STMBL pseudo absolute resolver behaviour
17 Dec 2023 01:49 #288373
by virencq
Replied by virencq on topic STMBL pseudo absolute resolver behaviour
Hi, would you mind to share STMBL updated stuff!
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26 Dec 2023 19:01 #289105
by Freak
Replied by Freak on topic STMBL pseudo absolute resolver behaviour
Hi, do you mean the python script for the pseudo absolute resolver?
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01 Feb 2024 21:52 #292168
by JackRay
Replied by JackRay on topic STMBL pseudo absolute resolver behaviour
Hello everyone,
I can't save the axis positions of my machine as soon as I quit linuxCNC . I would like to avoid redoing the original settings as soon as I restart my machine.
i think than I have correct confguration.
[TRAJ]
AXES = 5
COORDINATES = XYZBC
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 120
MAX_VELOCITY = 150
POSITION_FILE = /home/jack/linuxcnc/configs/5axescnc/position.txt
NO_FORCE_HOMING = 1
Can you help me .
Thank you
I can't save the axis positions of my machine as soon as I quit linuxCNC . I would like to avoid redoing the original settings as soon as I restart my machine.
i think than I have correct confguration.
[TRAJ]
AXES = 5
COORDINATES = XYZBC
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 120
MAX_VELOCITY = 150
POSITION_FILE = /home/jack/linuxcnc/configs/5axescnc/position.txt
NO_FORCE_HOMING = 1
Can you help me .
Thank you
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04 Feb 2024 10:12 #292367
by freemoore
Replied by freemoore on topic STMBL pseudo absolute resolver behaviour
Hi Freak,
I would guess virencq above means, please will you share all hardware files for your updated version of STMBL? From your earlier post it sounds like you might have resolved the stmbl power stage issue, which seems to be the thing that has left that project apparently stuck for years with information slowly drying up.
I understand that the devs are likely busy with other things, as some responses on the gitter channel seem to show. For myself, it's been rather difficult to learn to use what they've made due to info being sparse, but there are obviously a fair number of people who really want access to a) working STMBL drives and b) enough information to make them user-friendly.
My point is that if you have a working power stage with non-obsolete components, maybe enough people can use your design to start making stmbl drives again that the project will come back to life. As another commenter said somewhere, such an amazing amount of high-quality work went into STMBL that it's a big shame that it isn't more usable.
I've just got back around to making a test rig with: linuxcnc 2.9.2 -> mesa 7i94 -> SS_5ABOBD firmware -> STMBL -> Fanuc 20F 23nm redcap servodrive with (I think) incremental encoder. I've an old Fanuc S420F robot arm which came super cheap with all 6 motors but no control board, and have been trying on and off for a few years to get it going. First movement in some time was yesterday evening; hopefully this time around I can get past the test bed stage and have the actual robot moving. I hope to post details about my config in case anyone else can use it, when I get a chance.
Probably going on a bit here, but just to say, it'd be great to see more life in the stmbl project again.
I would guess virencq above means, please will you share all hardware files for your updated version of STMBL? From your earlier post it sounds like you might have resolved the stmbl power stage issue, which seems to be the thing that has left that project apparently stuck for years with information slowly drying up.
I understand that the devs are likely busy with other things, as some responses on the gitter channel seem to show. For myself, it's been rather difficult to learn to use what they've made due to info being sparse, but there are obviously a fair number of people who really want access to a) working STMBL drives and b) enough information to make them user-friendly.
My point is that if you have a working power stage with non-obsolete components, maybe enough people can use your design to start making stmbl drives again that the project will come back to life. As another commenter said somewhere, such an amazing amount of high-quality work went into STMBL that it's a big shame that it isn't more usable.
I've just got back around to making a test rig with: linuxcnc 2.9.2 -> mesa 7i94 -> SS_5ABOBD firmware -> STMBL -> Fanuc 20F 23nm redcap servodrive with (I think) incremental encoder. I've an old Fanuc S420F robot arm which came super cheap with all 6 motors but no control board, and have been trying on and off for a few years to get it going. First movement in some time was yesterday evening; hopefully this time around I can get past the test bed stage and have the actual robot moving. I hope to post details about my config in case anyone else can use it, when I get a chance.
Probably going on a bit here, but just to say, it'd be great to see more life in the stmbl project again.
The following user(s) said Thank You: tommylight
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21 Aug 2024 14:17 #308293
by Freak
Replied by Freak on topic STMBL pseudo absolute resolver behaviour
Hi everyone,I recently fixed an issue with the original state machine for simulating absolute encoder behavior, as I forgot to post it here earlier. I've now implemented a simple state machine class that's been working well for me. In the future, I plan on adding this to my robot configuration repository.Please note that I don't receive notifications when topics are updated in this forum, so I apologize if I respond late.Here's how it works with the INI file:
In the Hal file I have:
...
[JOINT_1]
TYPE = ANGULAR
UNITS = degree
MAX_VELOCITY = 77.0
MAX_ACCELERATION = 199.0
MIN_LIMIT = -160
MAX_LIMIT = -5
HOME_ABSOLUTE_ENCODER = 2
HOME_OFFSET = -90.0
HOME = -90.000
HOME_SEQUENCE = 0
...In the Hal file I have:
loadusr -Wn pseudo_abs_encoder ./pseudo_abs_encoder.py num_chans=6
...net m0abs_enc_posfb pseudo_abs_encoder.encoder-position-0
net m0abs_enc_offset pseudo_abs_encoder.offset-0 => sum2.3.in0
net m0abs_enc_posfb => sum2.3.in1
net m0posfb sum2.3.out => joint.0.motor-pos-fb
net m1abs_enc_posfb pseudo_abs_encoder.encoder-position-1
net m1abs_enc_offset pseudo_abs_encoder.offset-1 => sum2.4.in0
net m1abs_enc_posfb => sum2.4.in1
net m1posfb sum2.4.out => joint.1.motor-pos-fb
net m2abs_enc_posfb pseudo_abs_encoder.encoder-position-2
net m2abs_enc_offset pseudo_abs_encoder.offset-2 => sum2.5.in0
net m2abs_enc_posfb => sum2.5.in1
net m2posfb sum2.5.out
net m3abs_enc_posfb pseudo_abs_encoder.encoder-position-3
net m3abs_enc_offset pseudo_abs_encoder.offset-3 => sum2.6.in0
net m3abs_enc_posfb => sum2.6.in1
net m3posfb sum2.6.out => joint.3.motor-pos-fb
net m4abs_enc_posfb pseudo_abs_encoder.encoder-position-4
net m4abs_enc_offset pseudo_abs_encoder.offset-4 => sum2.7.in0
net m4abs_enc_posfb => sum2.7.in1
net m4posfb sum2.7.out => joint.4.motor-pos-fb
net m5abs_enc_posfb pseudo_abs_encoder.encoder-position-5
net m5abs_enc_offset pseudo_abs_encoder.offset-5 => sum2.8.in0
net m5abs_enc_posfb => sum2.8.in1
net m5posfb sum2.8.out => joint.5.motor-pos-fb
setp pseudo_abs_encoder.res-offset-0 0.1428
setp pseudo_abs_encoder.res-offset-1 0.6960
setp pseudo_abs_encoder.res-offset-2 0.1893
setp pseudo_abs_encoder.res-offset-3 -2.0864
setp pseudo_abs_encoder.res-offset-4 1.36027
setp pseudo_abs_encoder.res-offset-5 0.8230
setp pseudo_abs_encoder.scale-0 2
setp pseudo_abs_encoder.scale-1 2
setp pseudo_abs_encoder.scale-2 2
setp pseudo_abs_encoder.scale-3 5
setp pseudo_abs_encoder.scale-4 4
setp pseudo_abs_encoder.scale-5 4Please Log in or Create an account to join the conversation.
21 Aug 2024 14:21 #308294
by Freak
Replied by Freak on topic STMBL pseudo absolute resolver behaviour
Hi freemore, I'll publish my stmbl implementation soon, this week probably. You will get more info in the stmbl matrix chat.
The following user(s) said Thank You: JackRay
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