PUMA 200 Robotarm and some Hal/INI issues

Regarding the joint rotation direction: It does not really matter if you follow the drawing or not the important thing is that the actual joint rotation directions on your arm match those in your DH-parameter model. Again, the DH  parameter values describe the sequence of translations and rotations used to transform the world coordinate system in the center of the base to the hand of your robot.
The positive rotation sense of each individual joint motor on your arm is determined by how you choose to manipulate the coordinate system on its path to the hand when you derive the DH parameter values. That is why you need to understand what the DH parameter model actually is. But I repeat myself.

The side offset (ie the one in the y direction) is the distance between the rotational axis of joint0 (likely the center of the vertical column) and the center of the wrist.

ah i get it...i think..

this means... its important that if i jog in +.. the + the direction is of the joint i move... and this is the direction of the arrows +.

this means for the alphas from the drawing: 0,90,90,0,-90,0 would be tool to the table?!

my setup is alpha 0,90,0,90,-90,90

i throwed again my hand with the right hand rule.. thumb up is Z..
i get 0,90,0,90,-90,90 BUT the toolplate is parallel to the base/table. different is that the toolplate is in another angle?!

its so complex...

thank you for your help....

Lets verify your home pose:

1. Home the arm
2. Activate 'Identity' mode
3. Remove all offsets (MDI: g10 l2 p0 x0 y0 z0 a0 b0 c0)
4. Move all joints except joint_4 to zero (MDI: g0 x0 y0 z0 a0 b0 c0)
5. Take a screenshot of the axis gui window
6. Take a picture from the side (ie the Y direction) of your robot
7. Post the two images

After homing in joint mode (idintity) i add second screenshot from world! but i moved B a little bit to go away from 0.0
in my ini:
 
RS274NGC_STARTUP_CODE = G21 G90 G94
#RS274NGC_STARTUP_CODE = G21 G10L2P0 x19.2 y5.5 z9.4 a0 b90 c0 (debug, ini: startup offsets set)

ALPHA-0 = 0
A-0 = 0
#D-0 = 330.2
D-0 = 328.93

ALPHA-1 = 1.570796
A-1 = 0
#D-1 = 121.92
D-1 = 0

ALPHA-2 = 0
A-2 = 203.2
#A-2 = 198.12
D-2 = 121.92
#D-2 = 0

ALPHA-3 = 1.570796
A-3 = 0
D-3 = 203.2

ALPHA-4 = -1.570796
A-4 = 0
D-4 = 0

ALPHA-5 = 1.570796
A-5 = 0
D-5 = 55.88


thanks for your help!

Certainly looks like your home pose is way off.

1. The lower arm is not vertical so your homing parameters for joint2 must be off.

2. Joint 4 is off as well it has to be either straight down or horizontal (with the lower arm being vertical)

3. Also joint0 is not oriented correctly, the upper arm is not aligned with the base (Although this is less problematic than the misalignment of joint2 and joint4 )

4. As you noticed the pose in the first drawing and the most recent ones are different. You can choose either one but you will need to adjust your 'side offset' accordingly. In your picture the wrist is obviously offset in the positive y-direction but the coordinate values show a _negative_ Y value, that needs to be fixed in the DH parameters:

 

So, in order to go forward you need to:
1. choose which home pose you want to use and derive the DH parameters accordingly
2. set up your homing parameters so the arm joints are actually in the chosen home pose when all joints are at 0°
 

ok the first pose is what i wish... arm is on the right side from the " tower" this means there is a -Y correct.

i played a little bit arround...

what i found: some failures are "softlimit positiv reached 500" i open the min max limits to 750 - 750... still for play more arround. after this message i get position error... but ich can manual jog in jooint mode many more deg. and all speeds are slow!

you wrote :

Lets verify your home pose:

1. Home the arm
2. Activate 'Identity' mode
3. Remove all offsets (MDI: g10 l2 p0 x0 y0 z0 a0 b0 c0)
4. Move all joints except joint_4 to zero (MDI: g0 x0 y0 z0 a0 b0 c0)
5. Take a screenshot of the axis gui window
6. Take a picture from the side (ie the Y direction) of your robot
7. Post the two images


i do the g00 x0y0z0 a0b0c0.. but correct would be without a0?

i have really issues with the right hand rule and rotate and flip the coordinatesystem.. i must build something with toothpicks and a cheese cube.. ...


homeing : i need on joint 4 or 5 ( joints here not linuxcnc.. i men robot) a 1deg. offset..if i dont have it.. kinematic errors came after homing... like in the example.. but with the puma560 genser simulator.. i can rebuild the existing failures....


if i throw in the ini the line in:
RS274NGC_STARTUP_CODE = G21 G10L2P0 x19.2 y5.5 z9.4 a90 b0 c90 (debug, ini: startup offsets1 set)

this line is from the gesner kins puma 560 example
it works better on my real puma