6x6 Stewart (Parallel Kinematic Machine Tool)
04 Mar 2016 12:22 #71020
by ommar
Replied by ommar on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
Hi again,
I purchased all of the hardware components. Now, i want to control the machine tool. Where should i start ? I installed 2.6 version of linuxcnc on the debian.
I purchased all of the hardware components. Now, i want to control the machine tool. Where should i start ? I installed 2.6 version of linuxcnc on the debian.
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04 Mar 2016 12:46 #71021
by andypugh
Replied by andypugh on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
Before trying to use hardware, and because a Stewart platform can break itself, get familiar with LinuCNC and the simulated hexapod.
Start the LinuxCNC config picker and select sim->axis->vismach->hexapod-sim
Instructions are visible in the config picker, but also here:
github.com/LinuxCNC/linuxcnc/tree/master.../vismach/hexapod-sim
What hardware do you have?
Start the LinuxCNC config picker and select sim->axis->vismach->hexapod-sim
Instructions are visible in the config picker, but also here:
github.com/LinuxCNC/linuxcnc/tree/master.../vismach/hexapod-sim
What hardware do you have?
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04 Mar 2016 13:04 #71023
by ommar
Replied by ommar on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
I have;
6 stepper motor
6 stepper motor driver
6 encoder
1 spindle
Mesa 7i76 and 7i78 daughter cards
Mesa 6i25 motion control card (Pci-E)
I saw solid hexapod but my construction does not like this. Can i edit it ? My joints orientation is equal angle around the circle (60 degree).
6 stepper motor
6 stepper motor driver
6 encoder
1 spindle
Mesa 7i76 and 7i78 daughter cards
Mesa 6i25 motion control card (Pci-E)
I saw solid hexapod but my construction does not like this. Can i edit it ? My joints orientation is equal angle around the circle (60 degree).
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04 Mar 2016 13:09 #71025
by andypugh
If you read the comments in genhexkins
github.com/LinuxCNC/linuxcnc/blob/master...ematics/genhexkins.c
You just need to "setp" the XY coordinates of the joint attachments in the HAL file.
I _assume_ that the joint lengths are assumed to be scaled correctly in HAL.
Replied by andypugh on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
I saw solid hexapod but my construction does not like this. Can i edit it ? My joints orientation is equal angle around the circle (60 degree).
If you read the comments in genhexkins
github.com/LinuxCNC/linuxcnc/blob/master...ematics/genhexkins.c
You just need to "setp" the XY coordinates of the joint attachments in the HAL file.
I _assume_ that the joint lengths are assumed to be scaled correctly in HAL.
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04 Mar 2016 13:18 #71026
by ommar
Replied by ommar on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
Thank you. I will study the documents. Lastly, will i use Linuxcnc interface (Pncconf and stepconf wizard) ? Otherwise is that documents enough to control ?
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04 Mar 2016 13:24 #71027
by andypugh
Replied by andypugh on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
Pncconf will get you close, but you will need to hand-edit some files (I don't think pncconf knows about genhexkins).
If you create a 6-axis config in Pncconf then compare the HAL and INI files with the sim config you should be able to make the necessary changes.
If you create a 6-axis config in Pncconf then compare the HAL and INI files with the sim config you should be able to make the necessary changes.
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14 Mar 2016 13:11 #71628
by ommar
Replied by ommar on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
linuxcnc/src directory none available so i can not edit genhexkins file. What must i do ?
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15 Mar 2016 00:17 #71659
by andypugh
Replied by andypugh on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
You shouldn't need to edit genhexkins, it is a general kinematics.
You can set the coordinates using HAL parameters:
Open a terminal window
Will give you a list of the dimensions. You can then add "setp" lines for each value in you HAL file.
(somwhere after the loadrt genhexkins line)
You can set the coordinates using HAL parameters:
Open a terminal window
halrun
loadrt genhexkins
show param
exitWill give you a list of the dimensions. You can then add "setp" lines for each value in you HAL file.
(somwhere after the loadrt genhexkins line)
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25 Mar 2016 13:45 #72132
by ommar
Replied by ommar on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
No. It is not give me a list of dimensions. Terminal print as follows;
The other question is: How can i learn my linuxcnc version ? I performed update steps for updating version of 2.7 but i am not sure that i work with 2.7.
root@debian:/home/egmak# halrun
halcmd: loadrt genhexkins
halcmd: show param
Parameters:
Owner Type Dir Value NameThe other question is: How can i learn my linuxcnc version ? I performed update steps for updating version of 2.7 but i am not sure that i work with 2.7.
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27 Mar 2016 13:29 #72208
by andypugh
Replied by andypugh on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
That's odd. I get
Try "show all" instead?
andypugh@linuxcnc-26-debian:~$ halrun
.
halcmd: loadrt genhexkins
halcmd: show param
Parameters:
Owner Type Dir Value Name
4 float RW -22.95 genhexkins.base.0.x
4 float RW 13.25 genhexkins.base.0.y
4 float RW 0 genhexkins.base.0.z
4 float RW 22.95 genhexkins.base.1.x
4 float RW 13.25 genhexkins.base.1.y
4 float RW 0 genhexkins.base.1.z
4 float RW 22.95 genhexkins.base.2.x
4 float RW 13.25 genhexkins.base.2.y
4 float RW 0 genhexkins.base.2.z
4 float RW 0 genhexkins.base.3.x
4 float RW -26.5 genhexkins.base.3.y
4 float RW 0 genhexkins.base.3.z
4 float RW 0 genhexkins.base.4.x
4 float RW -26.5 genhexkins.base.4.y
4 float RW 0 genhexkins.base.4.z
4 float RW -22.95 genhexkins.base.5.x
4 float RW 13.25 genhexkins.base.5.y
4 float RW 0 genhexkins.base.5.z
4 float RW -1 genhexkins.platform.0.x
4 float RW 11.5 genhexkins.platform.0.y
4 float RW 0 genhexkins.platform.0.z
4 float RW 1 genhexkins.platform.1.x
4 float RW 11.5 genhexkins.platform.1.y
4 float RW 0 genhexkins.platform.1.z
4 float RW 10.459 genhexkins.platform.2.x
4 float RW -4.884 genhexkins.platform.2.y
4 float RW 0 genhexkins.platform.2.z
4 float RW 9.459 genhexkins.platform.3.x
4 float RW -6.616 genhexkins.platform.3.y
4 float RW 0 genhexkins.platform.3.z
4 float RW -9.459 genhexkins.platform.4.x
4 float RW -6.616 genhexkins.platform.4.y
4 float RW 0 genhexkins.platform.4.z
4 float RW -10.459 genhexkins.platform.5.x
4 float RW -4.884 genhexkins.platform.5.y
4 float RW 0 genhexkins.platform.5.z
halcmd: exitTry "show all" instead?
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