5 DOF Robotic Arm
30 Mar 2021 22:37 #204156
by andypugh
Replied by andypugh on topic 5 DOF Robotic Arm
It goes in the [DISPLAY] section
linuxcnc.org/docs/2.8/html/config/ini-co...tml#_display_section
But: I think that the problem is that the system is not homed.
The Axis display is showing joint numbers, not axis letters, so the machine is running in "Joint" mode and is not running any kinematics.
linuxcnc.org/docs/2.8/html/config/ini-co...tml#_display_section
But: I think that the problem is that the system is not homed.
The Axis display is showing joint numbers, not axis letters, so the machine is running in "Joint" mode and is not running any kinematics.
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31 Mar 2021 07:03 #204178
by Aciera
Replied by Aciera on topic 5 DOF Robotic Arm
Can you post the complete hal and ini and a screenshot of what is happening in the preview?
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31 Mar 2021 07:12 #204179
by elisa
Replied by elisa on topic 5 DOF Robotic Arm
So what should I modify in the ini file in order to run kinematics?
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31 Mar 2021 07:20 #204180
by elisa
These are my ini and hal files.
I will attached the screenshot as soon as I am in the lab.
Replied by elisa on topic 5 DOF Robotic Arm
These are my ini and hal files.
I will attached the screenshot as soon as I am in the lab.
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31 Mar 2021 08:45 #204186
by andypugh
You should only need to "home" the machine to switch to "World" mode.
What happens if you press "home all" in the Axis GUI? (Is there an actual physical robot connected. or is this just a sim at this stage?. I would be a little more cautious about homing if there is a real robot that might not have a safe homing sequence configured)
Replied by andypugh on topic 5 DOF Robotic Arm
So what should I modify in the ini file in order to run kinematics?
You should only need to "home" the machine to switch to "World" mode.
What happens if you press "home all" in the Axis GUI? (Is there an actual physical robot connected. or is this just a sim at this stage?. I would be a little more cautious about homing if there is a real robot that might not have a safe homing sequence configured)
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31 Mar 2021 09:07 #204187
by elisa
Replied by elisa on topic 5 DOF Robotic Arm
Yes, there is an actual robot connected. In fact, before running any g codes, I home all axis. The problem is that in the GUI Preview the end effector trajectory does not match the real one.
Today I try using the GEOMETRY line as you suggested and I will report what happens.
Today I try using the GEOMETRY line as you suggested and I will report what happens.
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31 Mar 2021 09:16 #204189
by andypugh
Replied by andypugh on topic 5 DOF Robotic Arm
The screen-shot definitely shows that the Axis GUI is in JOINT mode.
Do you ever see XYZ (etc) in the DRO in Axis?
Maybe the screen-shot was taken after switching from world/cartesian mode to joint mode?
Do you ever see XYZ (etc) in the DRO in Axis?
Maybe the screen-shot was taken after switching from world/cartesian mode to joint mode?
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31 Mar 2021 09:29 #204191
by elisa
Replied by elisa on topic 5 DOF Robotic Arm
Yes, I see XYZAB in the DRO in Axis.
I always used the JOINT mode, might it be a problem?
The reason is that I compute the inverse kinematics with another software from which I get the gcode to upload in LinuxCNC.
I always used the JOINT mode, might it be a problem?
The reason is that I compute the inverse kinematics with another software from which I get the gcode to upload in LinuxCNC.
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31 Mar 2021 09:34 #204193
by andypugh
Replied by andypugh on topic 5 DOF Robotic Arm
So, you are not using LinuxCNC kinematics? Then LinuxCNC has absolutely no way to know how to display the motions.
If your Vismach model is working, just change to the DRO tab and ignore the graphical preview.
If your Vismach model is working, just change to the DRO tab and ignore the graphical preview.
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31 Mar 2021 09:50 #204197
by elisa
Replied by elisa on topic 5 DOF Robotic Arm
Okay, I try using Vismach model and I will report what happens.
I don't use LinuxCNC kinematics beacuse I don't know how to compute it there, where can I find some information?
I don't use LinuxCNC kinematics beacuse I don't know how to compute it there, where can I find some information?
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