Re:Gantrykins

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13 Sep 2010 09:13 #4163 by radekB
Gantrykins was created by radekB
Hi.

Please use both kinematics gantrykins? In AUTO mode, MDI and everything works fine. In manual mode, but no link between the axes of Y and A. The setup: / setp gantrykins.joint-3 1 / does not work(in manual mode error: joint 1 following error). The gantry not can be manually run.

thanks

RADEK> Please solve this one?

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13 Sep 2010 12:44 #4171 by andypugh
Replied by andypugh on topic Re:Gantrykins
Can you post your HAL file?

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13 Sep 2010 12:52 #4173 by radekB
Replied by radekB on topic Re:Gantrykins
Configuration is almost original. Please try it in all modes.

RADEK

File Attachment:

File Name: stepper_gantry.zip
File Size:5 KB
Attachments:

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13 Sep 2010 12:52 #4174 by radekB
Replied by radekB on topic Re:Gantrykins
Configuration is almost original. Please try it in all modes.

RADEK

File Attachment:

File Name: stepper_ga...ab1a.zip
File Size:5 KB
Attachments:

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13 Sep 2010 12:52 #4175 by radekB
Replied by radekB on topic Re:Gantrykins
Configuration is almost original. Please try it in all modes.

RADEK

File Attachment:

File Name: stepper_ga...80ff.zip
File Size:5 KB
Attachments:

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13 Sep 2010 20:26 #4179 by andypugh
Replied by andypugh on topic Re:Gantrykins
I think it works as it should, though not necessarily as it ought to.

If you home the machine then press "$" to switch to world-mode you can jog in XYZ.
If you jog in "Joint" mode then when you switch to "world" mode you get a following error, as one "Y" axis joint is in one position and the other is in another.

I think there needs to be a way to disable "joint" mode for Gantry machines. It might be that there is.

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13 Sep 2010 23:51 - 14 Sep 2010 00:37 #4187 by radekB
Replied by radekB on topic Re:Gantrykins
Thank you for help.
RADEK
Last edit: 14 Sep 2010 00:37 by radekB.

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14 Sep 2010 09:08 #4189 by andypugh
Replied by andypugh on topic Re:Gantrykins
The version of your post that I was emailed had a section of HAL code that appears to auto-switch to World mode.
It seems that you have since removed that. Was it because it did not work, or for some other reason?

It seemed very similar to my thoughts on the issue.

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14 Sep 2010 12:00 #4195 by radekB
Replied by radekB on topic Re:Gantrykins
loadrt and2 count=3
loadrt not count=1

addf and2.0 servo-thread
addf and2.1 servo-thread
addf and2.2 servo-thread
addf not.0 servo-thread

net home_X axis.0.homed and2.0.in0
net home_Y axis.1.homed and2.0.in1
net home_Z axis.2.homed and2.1.in0
net home_A axis.3.homed and2.1.in1
net joint halui.mode.joint not.0.out
net teleop halui.mode.teleop and2.2.out not.0.in
net o_1 and2.0.out and2.2.in0
net o_2 and2.1.out and2.2.in1

It does not solve the problem. It works only after ref Hours switches. switching to MDI mode, this repeal. It'll probably hit the EMC at source level. I do not know how to use the shift command to establish HAL +"$".

RADEK

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