Boogie wrote: Guys: how to copy LinuxCNC Errors raport that pop out when linuxcnc crashes? I can highlight all the information but i'm not able to copy&paste it.
The button should select-all, and then you can use Ctrl-C to copy the text.
I have a feeling that you need to paste it before closing the dialog.
I loaded simulation vismach_scara configuration example yesterday. Linuxcnc loaded with no errors. AXIS and vismach windows appeared on the screen. I was able to move each individual joint in jog mode. Then hit 'home all' and all joints positions changed to their corresponding home positions according to INI file. So far so good.
Then i tried to switch do WORLD mode and joint0, joint1, etc... on the DRO changed to X, Y, Z, A, B or so. It all looked fine but i couldn't make any coordinated move in TELEOP mode using MDI without some error messages like: joint xxx would exceed positive limit, and similar. I tried to move in the same XYZ space using joint mode and there were no errors.
Then i picked puma sim configuration. The same problems.
Then i picked robokins configuration and... AXIS loaded with no errors! Why? I was able to home joints, move each joint in JOINT mode.
And here is tricky thing: in JOINT mode, after HOME_ALL command i could move each joint within soft limits set in INI file. That's ok. But when I switched to the WORLD mode and tried to move the machine in XYZ space I was able to move, say X axis (which is LINEAR type), beyond its soft limits! Why is that? Samo thing on ANGULAR joints. It looked like soft limits were not loaded but if I tried to use MDI to execute, say G10 X0Y10Z5, errors came on that some joints limits would be exceeded...?
Still much confused though some progress is visible.
I'll try to make a video - do you guys know some suitable software (not demanding as my PC is old) to capture my screen?
Now i have to play with VISMACH module and make model to visualize robokins arm. Here is another question: does vismach take into account HAL pins used to define robot arm lenghts (robokins.D1, robokins.D2 and robokins.D3) to update model diemensions in animation window?
Boogie wrote: Here is another question: does vismach take into account HAL pins used to define robot arm lenghts (robokins.D1, robokins.D2 and robokins.D3) to update model diemensions in animation window?
No. Just like a real robot doesn't change its dimensions to suit the HAL file
This is probably good, it means that you can experiment with the wrong DH parameters to see the effects.
Vismach docs: linuxcnc.org/docs/2.7/html/gui/vismach.html
I wrote the Vismach docs, but only after working out a lot of stuff by trial and error that I have since forgotten.
I can only suggest the same for you, look at examples and experiment.
thank you for answering, I mean that the pivot point is wrong, I tried to change it, I think there is some step that I do not do well, I am looking at all the examples in / usr / bin, I attach some screenshots to see if I am better, I'll keep doing tests, thanks Chimeno