Double or Triple Rotarydeltakins on Ethercat

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13 Oct 2020 20:55 #186021 by TheRoslyak
Good day
The task is to run two (or better three) rotary delta robots on Ethercat.
I have already built a robot with Ethercat and it works great.
I want to use one PC board to run two or three robots at once.
As I understand it, for this task I need to modify the source code.

I don't understand the source code well and if I modify the kinematics files I get more and more errors

I ask for advice who is well versed in source codes.

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24 Oct 2020 21:35 #187139 by tommylight
Not sure that it is possible to use 1 PC to drive 3 machines, although they are some workarounds but i doubt it will do what you want or need. Also seems a bit strange to risk having a PC go down and take 3 machines with it, but to each his own...
Anyway you look at it, a PC is the cheapest part of a machine so besides space constrains i can not find any other viable reason for it.
Sorry for the late reply.

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29 Oct 2020 13:15 #187683 by TheRoslyak
Let me clarify the situation. This project is already at the stage of sale. We have already sold several dozen of these robots. Grassyness is that it is more difficult to maintain each robot separately than one. Ethercat controllers like Bekhoff allow you to control 90+ drivers at the same time. As well as controllers based on Codesys. In terms of cheapness, we are not limited in funds and can afford an i9-10900K if needed. So I see two options for myself either:
-1 modify Linuxcnc (at least 2/3 robots);
-2 create a new project under Codesys;
Therefore, I ask for advice from those who know the source code of Linuxcnc.
It is not limited to the four files
rotatekins.c
rotarydeltakins-common.h
rotarydeltakins.cc
rotarydeltakins.c
I need to modify the rest of the files, which I find it difficult to understand

Sorry for bad english)

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29 Oct 2020 13:54 #187684 by Grotius
Hi,

I know a bit of the lcnc source code, bit of the ethercat source, a bit of KDL kinematics, a bit of Opencascade etc.

What kind of motion program does the robot use to move? Do you use g-code or something else?
If you don't use gcode you could control 3 or more robot's quite easy trough hal.

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29 Oct 2020 21:45 #187728 by TheRoslyak
I am using standard g-code. Now I have one main computer that sends commands (Linuxcncrsh) to slave computer(robot) by classic Ethernet (pic1). I want linuxcnc with new modified kinematics (let's call it rotarydeltakins3) to work like picture2.

I don't need knowledge of ethercat sources and various CAD systems (Opencascade and etc). But to understand the source code of Linuxcnc is useful!
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30 Oct 2020 09:14 #187761 by TheRoslyak
Now I can use one delta robot (XYZ) and the rest of the ABCUVW axes will be simple linear or angular.
I imagine that the * .ini file will look like this.
If there are simpler options how to achieve this, I am all in the attention :-)
Attachments:

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30 Oct 2020 10:45 #187774 by Grotius
Hi,

Until now i don't understand exactly what would be different to the existing lcnc setup.

If i look at picture 2. I imagine you want one single kinematics file that procudes the ouput of 3 kinematics file's?
Like ->
robot 1 xyz
robot 2 abc
robot 3 uvw

Or do you need a hal wrapper that clones gcode for the other 2 robots in the cascade?

Do do robot's work as clone's or can they be controlled independend? Or would you be it like that?

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30 Oct 2020 11:05 #187779 by TheRoslyak
Independend. Each robot moves differently.

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30 Oct 2020 11:23 #187782 by Grotius
Ahh clear.

If your 3 robots move independent, you don't want to use one g-code intepreter for 3 robots.
If one robot's has to be paused, you must pause the whole cascade.

So if you could hack lcnc to start up 3 times on one pc, you would be happy?

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30 Oct 2020 11:26 - 30 Oct 2020 11:49 #187783 by TheRoslyak
Yes;-) And more)))
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Last edit: 30 Oct 2020 11:49 by TheRoslyak.

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