QTPlasmaC with six axis
10 Oct 2023 06:50 #282664
by mariusl
Regards
Marius
www.bluearccnc.com
Replied by mariusl on topic QTPlasmaC with six axis
I will be testing the first iteration of the new six axis kinematics for this project today. I will give feedback once I have some results.
Regards
Marius
www.bluearccnc.com
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10 Oct 2023 06:55 #282665
by mariusl
Regards
Marius
www.bluearccnc.com
Replied by mariusl on topic QTPlasmaC with six axis
That is why we are looking at using a 5/6 axis kinematics and not the trivkins.
It will be interesting to see how that works out with the motion planner falling back to one line look ahead.
I have been wondering about this too. Recent tests with just 1 rotary axis made it unusable due to the 1 line look ahead.
Regards
Marius
www.bluearccnc.com
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10 Oct 2023 07:25 #282667
by mariusl
Regards
Marius
www.bluearccnc.com
Replied by mariusl on topic QTPlasmaC with six axis
@Phill
I did a pull and it says that my branch is up to date with remote. Got this error.
I did a pull and it says that my branch is up to date with remote. Got this error.
Traceback (most recent call last):
File "/home/plasma/linuxcnc-dev/share/qtvcp/screens/qtplasmac/qtplasmac_handler.py", line 2877, in <lambda>
self.w.jog_c_plus.pressed.connect(lambda:self.gui_button_jog(1, 'c', 1))
File "/home/plasma/linuxcnc-dev/share/qtvcp/screens/qtplasmac/qtplasmac_handler.py", line 2049, in gui_button_jog
self.kb_jog(state, ['x','y','z','a','b'].index(joint), direction, shift)
ValueError: 'c' is not in listRegards
Marius
www.bluearccnc.com
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10 Oct 2023 07:32 #282668
by phillc54
Replied by phillc54 on topic QTPlasmaC with six axis
That was one of the errors I mentioned earlier, have you pulled since my last update?
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10 Oct 2023 07:44 #282669
by mariusl
Regards
Marius
www.bluearccnc.com
Replied by mariusl on topic QTPlasmaC with six axis
Just noticed that I am not in sync. I am having issues with connecting to github.That was one of the errors I mentioned earlier, have you pulled since my last update?
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Marius
www.bluearccnc.com
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10 Oct 2023 08:31 #282673
by mariusl
Regards
Marius
www.bluearccnc.com
Replied by mariusl on topic QTPlasmaC with six axis
I am up to speed now so I can test. Thanks a lot.
Regards
Marius
www.bluearccnc.com
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10 Oct 2023 08:40 #282675
by Aciera
Sound interesting though so please do report back.
Replied by Aciera on topic QTPlasmaC with six axis
I don't quite see how that would make a difference as the interpreter is totally ignorant of any custom kinematic. So in a way all it 'knows' is trivkins and the moment it sees a move containing anything other than X,Y,Z it falls back to one line look ahead.That is why we are looking at using a 5/6 axis kinematics and not the trivkins.
Sound interesting though so please do report back.
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13 Oct 2023 10:32 #282883
by mariusl
Regards
Marius
www.bluearccnc.com
Replied by mariusl on topic QTPlasmaC with six axis
@Phill, I am busy with the integration of kinematics test config and your 6 axis config into a real machine config. I get this error that does not really show what it is wanting from me.
Traceback (most recent call last):
File "/home/plasma/linuxcnc-dev/bin/qtvcp", line 545, in <module>
_qtvcp = QTVCP()
File "/home/plasma/linuxcnc-dev/bin/qtvcp", line 294, in __init__
window.handler_instance.initialized__()
File "/home/plasma/linuxcnc-dev/share/qtvcp/screens/qtplasmac/qtplasmac_handler.py", line 349, in initialized__
self.set_axes_and_joints()
File "/home/plasma/linuxcnc-dev/share/qtvcp/screens/qtplasmac/qtplasmac_handler.py", line 3044, in set_axes_and_joints
self.w['home_{}'.format(axis)].set_joint(self.coordinates.index(axis))
ValueError: substring not found
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Marius
www.bluearccnc.com
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13 Oct 2023 15:55 - 13 Oct 2023 15:56 #282899
by mariusl
Regards
Marius
www.bluearccnc.com
Replied by mariusl on topic QTPlasmaC with six axis
@Phill, I tried to see the problem. I am sure something is wrong with the code that sets up the axis and kinematics. I am not using trivkins but a 6 axis kinematics. It seems that some stuff is coded for trivkins. I am not up to speed with python any more so I am not sure what to do there. I did change the code to add axis abc and then it loads but I am not sure if everything is going to work.
def set_axes_and_joints(self):
kinematics = self.iniFile.find('KINS', 'KINEMATICS').lower().replace('=','').replace('trivkins','').replace(' ','') or None
#kinstype = None
self.coordinates = 'xyzabc' !!!!!! here I just added the "abc"Regards
Marius
www.bluearccnc.com
Last edit: 13 Oct 2023 15:56 by mariusl.
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13 Oct 2023 23:23 #282946
by phillc54
self.coordinates = 'xyz' is just a default minimum fallback in case the coordinates are not specified in the [KINS] section of the INI file.
Did you have something like:
Maybe add a print statement immediately before line 3038: for axis in 'abc':to ensure that all axes appear in coordinates.
Replied by phillc54 on topic QTPlasmaC with six axis
@Phill, I tried to see the problem. I am sure something is wrong with the code that sets up the axis and kinematics. I am not using trivkins but a 6 axis kinematics. It seems that some stuff is coded for trivkins. I am not up to speed with python any more so I am not sure what to do there. I did change the code to add axis abc and then it loads but I am not sure if everything is going to work.
def set_axes_and_joints(self): kinematics = self.iniFile.find('KINS', 'KINEMATICS').lower().replace('=','').replace('trivkins','').replace(' ','') or None #kinstype = None self.coordinates = 'xyzabc' !!!!!! here I just added the "abc"
self.coordinates = 'xyz' is just a default minimum fallback in case the coordinates are not specified in the [KINS] section of the INI file.
Did you have something like:
KINEMATICS = 6_axis_plasma coordinates=xyzabcMaybe add a print statement immediately before line 3038: for axis in 'abc':
print(f"\nself.coordinates={self.coordinates}\nself.axes={self.axes['valid']}\n")Please Log in or Create an account to join the conversation.
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