4 axis cnc winch style foam hotwire configuration

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05 Oct 2012 03:13 #24965 by mt92
Ok I have the files moved in the proper folder and that is it for me tonight. I will try to make thing move tomorrow.

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05 Oct 2012 09:32 #24967 by andypugh
mt92 wrote:

/home/username/emc2hotwinch/kinematic/dualbipod.c
/home/username/emc2hotwinch/kinematic/dualbipod.ko
/home/username/emc2hotwinch/kinematic/dualbipod_XYAB.c
/home/username/emc2hotwinch/kinematic/dualbipod_XYAB.ko


The .ko files are the actual kinematics files. They may or may not work if simply copied into the kinematics folder.

You only use one at a time, and which one is being used depends on which one is loaded by the HAL file. (you should see a loadrt command near the top of the HAL file)

There will be adjustments that need to be made for such factors as the length of your strings and the distance between winches. Those are probably parameters in the HAL file.

If the kinematics files don't work when simply copied in to place then you will need to compile them. The "comp" command can do this almost automatically:

sudo comp --install path/to/the/dualbipod.c

(you need sudo because the file is put into the system, outside your user folders)

In case you are not clear, the kinematics files are what convert XYUV positions in space into wire-lengths(stepper positions) for the motor controllers.

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05 Oct 2012 11:15 #24972 by mt92
Ok can you give me a good example of what the command line will look like to compile these files, are they all compiled in one command line? The files are in my home folder and they are going to /usr/realtime-2.6.32-122-rtai/modules/linuxcnc.

I am at work now and do not have it in front of me but I will try it as soon as I get home.
How do I delete the files I already put in there.
Sorry for all the questions but Linux in new to me.

Thanks
Mike

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05 Oct 2012 11:28 #24973 by andypugh
mt92 wrote:

Ok can you give me a good example of what the command line will look like to compile these files, are they all compiled in one command line? The files are in my home folder and they are going to /usr/realtime-2.6.32-122-rtai/modules/linuxcnc.


sudo comp --install ~/bipod.c
sudo comp --install ~/bipod_XYAB.c

Ought to work.
if not then they should after
sudo apt-get install linuxcnc-dev

How do I delete the files I already put in there.

They will either get over-written, or ignored.

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05 Oct 2012 14:26 #24988 by mt92
Thanks again I will try it when I get home.

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05 Oct 2012 19:05 #24998 by mt92
ok I have the kinematics file compiled, Thanks.

I created a stepconfiguration with the wizard and put the hal and ini files into that directory. When I start linux it says the following in the debug file information.

can not find - sec mot -var mot- num1
can not find sec io car- num 1
can not find sec linuxcnc var nml_file num 1
custom_postgui.hal38: pin 'halui.mode.is-joint does not exsist
2206
pid tty stat time command
2255
pid tty stat time command
stopping the realtime threads
unloading hal componets

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05 Oct 2012 19:20 #25001 by mt92
Just figured out how to take a screenshot.
Attachments:

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05 Oct 2012 19:23 #25003 by BigJohnT
Zip up your config files and attach them to a reply so we can have a look.

John

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05 Oct 2012 19:27 #25005 by mt92
Let me know if this is what you need to look at.

Thanks
Mike

File Attachment:

File Name: config-e3d...1d33d.gz
File Size:8 KB
Attachments:

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05 Oct 2012 19:41 #25006 by andypugh
mt92 wrote:

custom_postgui.hal38: pin 'halui.mode.is-joint does not exsist

The problem is that the HAL pin called "halui.mode.is-joint" does not exist.

It may well be because your INI file does not contain HALUI = halui in the place where that goes.

www.linuxcnc.org/docs/html/gui/halui.html

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