6-axis / robot / pico-system / genserkins

I posted this on the mailing list - well, I don't know if I did. I was registered at one point and I sent it to This email address is being protected from spambots. You need JavaScript enabled to view it.. But I did not get any responce. so I try it here. So, sorry for double posting.


Folks,

I do have the hardware from pico-system and all 6 axis on my fanuc running. so the hal and ini files seem to be ok.



When I change the kinetics to genserkins (incl. setting the params) i still can move every joint in joint mode. The 3d simulator is working too on every axis/joint. The gauges, as shown in the puma560, are also working.

After homing all axis the coordination system goes in the right values.

If i now jog the first joint (the first axis on the ground) the x/y values are changing like expected - the tool cut a circle. So the genserkins must be in place and do the math. So far, so good.

Then i tested the last joint (c axis) with jog. Also this works. Only the c value changes, how it should be.

Then i go into mdi mode and set "g0 c1.0" ( this is within all limits and can be reached in jog mode). The velocity goes up, stays up approximately the time it takes to get the axis in this position and stops again. But nothing is moving. Not the robot, values nor the 3d simulation.

If i go back to c0, same thing.

If i go to c0 again, no velocity - witch is right, because I'm already there.

So the logic seems to work/calculate but i must miss something.

Any idea what?

Thanks!

Andy, hi

axis.5.motor-pos-cmd: -0.2281905
axis.5.motor-pos-fb:-0.2285947

if I jog in joint mode the axis is moving just fine and the values too.

i wrote a simple gcode
g0
c0.1
c-0.1
c0.1
c-0.1
m2

if I run this in trivkins the axis is moving fine and I see the code executed line by line in the bottom window.

when I switch to genserkins and run the same code I can see the code running line by line and the time is the same. but again, nothing is moving, not the robo, 3d sim nor both hal meter values - nothing.

thanks!

Running gcode again, those values show the right values linuxCNC Stauts:
- position
- dtg
- distance_to_go

Hal Meter:
all axis.5.xxx are working when I jog. when I run the gcode nothing is changing.

What do you expect to see

I expect to see the robot moving. or the coordinates. or the 3d simulation.

in jog mode everything works, robot, coordinates and 3d simulation.

Is it possible that the Kins only actually understands XYZAB?

this would have to be XYZAC or XYZBC

but if you start the puma560 demo, witch also runs with the gensernkins, there are all axis - XYZABC

The Kins works for sure. because when I move the axis.0 the values x and y are changing - witch is correct.

Are you sure you can see a 0.1 degree movement?

yes.

when I run the same program with trivkins the the robot turns.
but not with generkins. but the display for the velocity goes up on the display to the same value, but nothing moves

Here a video to make it clearer.

As you can see the gcode runs and the velocity shows values but the coordinated (and the robot) doesn't.



same g code with puma560 demo