5 Axis ParPort Stepper Setup with RTCP

fery15sty
Offline
Senior Member

20 Sep 2015 20:15 #62810 by fery15sty

Replied by fery15sty on topic 5 Axis ParPort Stepper Setup with RTCP

I tried to compile kinematics file, but the result is like this:

what i am doing??

Please Log in or Create an account to join the conversation.

fery15sty
Offline
Senior Member

20 Sep 2015 21:22 #62814 by fery15sty

Replied by fery15sty on topic 5 Axis ParPort Stepper Setup with RTCP

by jstoquica

Hi,

For the new Linuxcnc users, the best thing for start with linuxcnc simulation (in my case, robotics manipulators) is:

1. Copy a new folder of any default project (.../configs/puma/). Like Puma or Puma 560 for robotic arms.
2. Copy the python file (vismach simulation) to be edited later. (/usr/bin/*.py)
3. Edit the *.py file with the custom design.
4. Test the simulation with halrun -> loadusr /usr/bin/*.py
5. Edit the name and the DOF hal signals in the python simulation in the *.HAL file /configs/new folder.
6. Copy some kinematics file for your custom machine. Like pumakins.c
7. Edit the kinematics parameters in *.c file.
8. Edit Makefile in the the linuxcnc source for your actually version. (.../usr/Makefile)
8. Then you have to compile the *.c file with the source package. (vim .../build/docs/INSTALL)
9. Run linuxcnc in RIP environment (Run In Place)
10. Test your configuration.

I hope that basics steps help with yours projects. Regards.

can you explain to me for the step 8,8,9,10..?? I am very confused..

Please Log in or Create an account to join the conversation.

dgarrett
Offline
Platinum Member

20 Sep 2015 21:56 #62817 by dgarrett

Replied by dgarrett on topic 5 Axis ParPort Stepper Setup with RTCP

An example shell session using linuxcnc installed from deb packages follows.
A run-in-place (RIP) environment is not required when using linuxcnc installed from
deb packages.
In this example, linuxcnc-uspace packages from the buildbot are used but instructions
are similar for any package install

$ # verify required packages (the -dev package provides the halcompile utility)
$ dpkg -l linuxcnc\*|grep ii
ii  linuxcnc-uspace     1:2.8.0~pre1.1082.gaa37cb0 amd64        PC based motion controller for real-time Linux
ii  linuxcnc-uspace-dev 1:2.8.0~pre1.1082.gaa37cb0 amd64        PC based motion controller for real-time Linux
$ 
$ # verify halcompile is in standard path:
$ which halcompile
/usr/bin/halcompile
$
$ # -h shows usage
$ halcompile -h
halcompile: Build, compile, and install LinuxCNC HAL components

Usage:
           halcompile [--compile|--preprocess|--document|--view-doc] compfile...
    [sudo] halcompile [--install|--install-doc] compfile...
           halcompile --compile --userspace cfile...
    [sudo] halcompile --install --userspace cfile...
    [sudo] halcompile --install --userspace pyfile...
           halcompile --print-modinc
$
$ # examine current directory:
$ ls -gG
total 4
-rw-r--r-- 1 3029 Sep 11 03:21 5axiskins.c
$
$ # try compiling:
$ halcompile --compile 5axiskins.c
Compiling realtime 5axiskins.c
Linking 5axiskins.so
$ ls -gG
total 20
-rw-r--r-- 1  3029 Sep 11 03:21 5axiskins.c
-rwxr-xr-x 1 15232 Sep 20 07:45 5axiskins.so
$ 
$ # try installing:
$ touch now
$ sudo halcompile --install 5axiskins.c
Compiling realtime 5axiskins.c
Linking 5axiskins.so
cp 5axiskins.so /usr/lib/linuxcnc/modules/
$ 
$ find /usr/lib/ -newer ./now -ls
166767   16 -rw-r--r-- 1 root root 15232 Sep 20 07:46 /usr/lib/linuxcnc/modules/5axiskins.so
$

The following user(s) said Thank You: marq_torque

Please Log in or Create an account to join the conversation.

marq_torque
Topic Author
Offline
Premium Member

24 Sep 2015 23:33 #62950 by marq_torque

Replied by marq_torque on topic 5 Axis ParPort Stepper Setup with RTCP

Hello Mods and Members

After many days i am back to track, played with new config and found its working working .... now its time to integrate tools with Rotary B axis. i will ask for that later on. but at present i found one weird problem. when switching from MDI to Manual Mode or vice versa... X and Z axis values change automatically ... means it keep increasing... increasing... by some fixed amount nearby 250 or something. and whenever i need to give MDI it says all axis must be homed. when its already set to some offset for work... confused what ... why... how... !!

:dry:

Please Log in or Create an account to join the conversation.

marq_torque
Topic Author
Offline
Premium Member

25 Sep 2015 02:31 #62954 by marq_torque

Replied by marq_torque on topic 5 Axis ParPort Stepper Setup with RTCP

Okay okay it was my Mistake in 5Axiskin.c file in line 45 and 66 i solved that error

Hello Mods and Members

After many days i am back to track, played with new config and found its working working .... now its time to integrate tools with Rotary B axis. i will ask for that later on. but at present i found one weird problem. when switching from MDI to Manual Mode or vice versa... X and Z axis values change automatically ... means it keep increasing... increasing... by some fixed amount nearby 250 or something. and whenever i need to give MDI it says all axis must be homed. when its already set to some offset for work... confused what ... why... how... !!

so only one thing i left questioned is. why its not moving from tool tip ?? i have tested in default kinematics file and modified also.

and also one thing how to use touch probe to measure automatic and save in W tool length ??

Please Log in or Create an account to join the conversation.

andypugh
Offline
Moderator

25 Sep 2015 19:27 #62973 by andypugh

Replied by andypugh on topic 5 Axis ParPort Stepper Setup with RTCP

marq_torque wrote:
so only one thing i left questioned is. why its not moving from tool tip ??

Does the kinematics take account of the tool length?
Is the tool length linked to a pin of the kinematics?
The kinematics is unaware of tool length, so the has to be passed in from HAL.

and also one thing how to use touch probe to measure automatic and save in W tool length ??

That is normally done with a remapping of M6, look at the sample config in sim/axis/remap/{ somethig about tool length}

The following user(s) said Thank You: marq_torque

Please Log in or Create an account to join the conversation.

marq_torque
Topic Author
Offline
Premium Member

25 Sep 2015 19:46 #62974 by marq_torque

Replied by marq_torque on topic 5 Axis ParPort Stepper Setup with RTCP

Hello Andypugh,

yes its already linked. bt there is also on more thing coming wrong.... is whenever i rotate C axis ... XZ B movement is totally unpredictable ..and goes wrong ... if i command XZB when C at 0° it moves fine but still tool length is question. but when i first try to move C then try to move XZB it moves very awkwardly... i am trying to post screenshot from computer.

Please Log in or Create an account to join the conversation.

andypugh
Offline
Moderator

25 Sep 2015 19:50 #62975 by andypugh

Replied by andypugh on topic 5 Axis ParPort Stepper Setup with RTCP

I thought that the C-axis was not involved in the kinematics calculations?

Maybe this is just a Vismach problem? You probably shouldn't have the C-axis connected to Vismach.

Does the tool length shown in Vismachmatch the tool length shown at the bottom of the Axis window?
Does the Vismach picture change when you change tools?

The following user(s) said Thank You: marq_torque

Please Log in or Create an account to join the conversation.