Joint Following Error(Kinematic HAL Included)

andypugh wrote:

furkanyilmaz11 wrote:

But I have no idea about where is the problem. Is there an any way to disable ferror?

Yes, and it might help to see what is going wrong.

If you connect the axis position command pin directly to the axis feedback pin in HAL then the normal f-error checking is bypassed.

andypugh wrote:

furkanyilmaz11 wrote:

But I have no idea about where is the problem. Is there an any way to disable ferror?

However, the fact that you have set wide f-error limits and it didn't help probably means that the kinematics is returning nonsense values. Is there any chance that it is dividing by zero somewhere, for example?

andypugh wrote:

furkanyilmaz11 wrote:

I think no. But I am not sure but I just take look the .c file. Looking fine.

Well, yes and no. If dnm or a are zero then the positions will become NaN and you will get an f-error.

There are clearly values for the intermedate values that can return zero for a and dnm.

I don't see any place in your HAL file where you set up the joint lengths so they will all have the default value if 1.0 (mm?)


So, as a first step, set our joint lengths and see if that helps. I think that a delta robot with all lengths = 1.0 might be unable to move, or might have a working volume less than 1 cubic mm.

net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable

andypugh wrote:

In my C file I am defining the joints lengths so re, rf if you mean this.

I do mean that, and I don't think you are doing that. I have looked at the deltakins.c file in the config you supplied, and I don't see the values being set.

It does no harm to add the lines to the HAL file to define the lengths, why not try it?

setp deltakins.e 100
setp deltakins.f 120
setp deltakins.re 50
setp deltakins.rf 175

(or whatever)

Linuxcnc working unstable! So after I install my kinematic file its working different. For example when I enter a g00x120, its firstly going to somewhere between 0-120 and waiting few second and going 120

Do you know for sure that the deltakins.c file works properly? Be aware that it isn't part of LinuxCNC so does not get any testing like the rest of LinuxCNC does.

I dont know anythink about whats wrong in this kinematic file or Idk is there an any wrong thing but as I read I just need to setup the arms lengths in c file.

In which C file do you think you have done this? The ZIP file you posted contains 3 separate instances od deltakins.c, but they all appear to be reading the part lengths from the HAL pins.

setp deltakins.e 100
setp deltakins.f 120
setp deltakins.re 50
setp deltakins.rf 175

setp delta_e 100
setp delta_f
.......

e = 100;
...

setp e 115
setp f 450

andypugh wrote:

You can't set the values until after the "loadrt deltakins" line.
But at that point it should be "setp deltakins.e 100" as I said.

You can check this by removing the new lines, starting linuxCNC, then opening the "show hal configuration" window to see what the deltakins pins are called.