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  5. How to use linuxcnc with a real robot equipped with a absolute encoder ?

How to use linuxcnc with a real robot equipped with a absolute encoder ?

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30 Sep 2017 03:36 #99658 by Zazakas
How to use linuxcnc with a real robot equipped with a absolute encoder ? was created by Zazakas
Hi,
In linuxcnc,before to execute any G code the machine must be homed.
But for a robot with absolute encoder home is not needed , so how can I
deal with this home issue.
I mean after turn the machine on. How can I execute G code directly?

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30 Sep 2017 04:15 #99659 by PCW
Replied by PCW on topic How to use linuxcnc with a real robot equipped with a absolute encoder ?
Don't you just set NO_FORCE_HOMING?
The following user(s) said Thank You: Zazakas

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30 Sep 2017 06:23 #99664 by Zazakas
Replied by Zazakas on topic How to use linuxcnc with a real robot equipped with a absolute encoder ?
Many thanks! Can't wait to try this out!

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01 Oct 2017 02:18 #99713 by Zazakas
Replied by Zazakas on topic How to use linuxcnc with a real robot equipped with a absolute encoder ?
Ooops. It doesn't works as I expected.
take config : sim>axis>vismach>puma.ini for example:
After add NO_FORCE_HOMING=1 in Traj section,
When I want to switch to MDI mode or exectue G code ,
the AXIS gui tells me all joints must be homed before going into coordinated/teleop mode .

And I add a print line in the emctaskmain.cc file , the variable no_fore_homing is 1.

So where could be the problem?

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01 Oct 2017 02:45 #99714 by Zazakas
Replied by Zazakas on topic How to use linuxcnc with a real robot equipped with a absolute encoder ?
yet how could linuxcnc know the initial joint position of the robot, if not homed?

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01 Oct 2017 02:46 #99715 by PCW
Replied by PCW on topic How to use linuxcnc with a real robot equipped with a absolute encoder ?
I just tried and it works (I can start gcode execution without homing)

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01 Oct 2017 03:06 #99717 by Zazakas
Replied by Zazakas on topic How to use linuxcnc with a real robot equipped with a absolute encoder ?
ok,maybe something wrong with my config
I am in a rip environment and using like branch 2.8.0~pre1
how about yours?
Thanks again.

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01 Oct 2017 03:11 #99718 by PCW
Replied by PCW on topic How to use linuxcnc with a real robot equipped with a absolute encoder ?
same, spelling error?
not editing the right file?

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01 Oct 2017 03:39 - 01 Oct 2017 03:42 #99719 by dgarrett
Replied by dgarrett on topic How to use linuxcnc with a real robot equipped with a absolute encoder ?

I am in a rip environment and using like branch 2.8.0~pre1

It is always important to state the branch.

For this development branch (git master) you will probably need to use the provisions for
absolute encoders as specified in the ini file:
Ref: linuxcnc.org/docs/devel/html/config/ini-...ome_absolute_encoder


(It looks like ([TRAJ]NO_FORCE_HOMING does not apply for non-identity kinematics
in the motion module even though task accepts it:
if (emcmotConfig->kinType != KINEMATICS_IDENTITY) {
  if (!checkAllHomed()) {
    reportError
    (_("all joints must be homed before going into coordinated mode"));
    emcmotDebug->coordinating = 0;
    break;
  }
}
Ref: github.com/LinuxCNC/linuxcnc/blob/677dc9...otion/command.c#L609
Last edit: 01 Oct 2017 03:42 by dgarrett.
The following user(s) said Thank You: Zazakas

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03 Oct 2017 05:56 - 03 Oct 2017 05:58 #99801 by Zazakas
Replied by Zazakas on topic How to use linuxcnc with a real robot equipped with a absolute encoder ?
Actually I am not sure about my branch.
And the absolute encoder option you pointed out works! No need to move the robot, although press home button is needed.

And do you have any idea how to move robot in joint space using G code or some other work programming language than can interface with linuxcnc ?
Last edit: 03 Oct 2017 05:58 by Zazakas.

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