Trajectory Planner using Ruckig Lib
14 Jun 2024 17:55 - 14 Jun 2024 18:05 #303014
by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
Up to date with lcnc master :
lcnc repo
Then we now we can think about how to use this
GENERAL
MOTION. G9. stuff.
It has a lot off values we can use : x,y,z,a,b,c,u,v,w,i,j,k,p,q,r,e,l.
Normally the L is of type integer.
They idea is to create gcode like :
E= is proposed to be a identifyer for line, arc, etc.
L= is proposed to be a indicator for startpoint, waypoint, endpoint.
P = tollerance for G64
Q = naive cam value for G64
E100.1 or E100.2 is also valid identifyer. Really no limits over here now !!
# 3d Line
G9 E1 X0 Y0 Z0 L0 (start)
G9 E1 X100, Y100, Z0, L1 (end)
# 3d Arc
G9 E2 X0 Y0 Z0 L0
G9 E2 X50, Y50, Z0, L1
G9 E2 X100, Y0, Z0, L2
# 3d Plane, set current plane
G9 E100 X0 Y0 Z0 L0 (plane point one)
G9 E100 X0 Y50 Z0 L1 (plane point two)
G9 E100 X50 Y0 Z0 L2 (plane point three)
# 3d Circle
(set 3d plane)
G9 E3 X0 Y0 Z0 L0 (start)
G9 E3 X50, Y50, Z0, L1 (center)
# 3d Spline
G9 E4 X0 Y0 Z0 L0
G9 E4 X50, Y50, Z0, L1
G9 E4 X100, Y0, Z0, L2
# 2d Tri-Clothoid in 3d space.
(set 3d plane)
G9 E5 X0 Y0 Z0, I0, J0, L0 (where I=start angle, J=curvature begin)
G9 E5 X50, Y50, Z0, I0, J0, L1 (where I=end angle, J=curvature end)
So, we can just push multiple gcode lines into one object. Here we have no limits.
If you have any idea. Great!
Sampe G9 gcode that is currently running in TPMOD.so component :
G9 updating values.
Then we now we can think about how to use this
It has a lot off values we can use : x,y,z,a,b,c,u,v,w,i,j,k,p,q,r,e,l.
Normally the L is of type integer.
They idea is to create gcode like :
E= is proposed to be a identifyer for line, arc, etc.
L= is proposed to be a indicator for startpoint, waypoint, endpoint.
P = tollerance for G64
Q = naive cam value for G64
E100.1 or E100.2 is also valid identifyer. Really no limits over here now !!
# 3d Line
G9 E1 X0 Y0 Z0 L0 (start)
G9 E1 X100, Y100, Z0, L1 (end)
# 3d Arc
G9 E2 X0 Y0 Z0 L0
G9 E2 X50, Y50, Z0, L1
G9 E2 X100, Y0, Z0, L2
# 3d Plane, set current plane
G9 E100 X0 Y0 Z0 L0 (plane point one)
G9 E100 X0 Y50 Z0 L1 (plane point two)
G9 E100 X50 Y0 Z0 L2 (plane point three)
# 3d Circle
(set 3d plane)
G9 E3 X0 Y0 Z0 L0 (start)
G9 E3 X50, Y50, Z0, L1 (center)
# 3d Spline
G9 E4 X0 Y0 Z0 L0
G9 E4 X50, Y50, Z0, L1
G9 E4 X100, Y0, Z0, L2
# 2d Tri-Clothoid in 3d space.
(set 3d plane)
G9 E5 X0 Y0 Z0, I0, J0, L0 (where I=start angle, J=curvature begin)
G9 E5 X50, Y50, Z0, I0, J0, L1 (where I=end angle, J=curvature end)
So, we can just push multiple gcode lines into one object. Here we have no limits.
If you have any idea. Great!
Sampe G9 gcode that is currently running in TPMOD.so component :
Warning: Spoiler!
G9 updating values.
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17 Jun 2024 19:47 #303197
by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
@Lcvette,
That is fantastic!
Thanks. It's a lot off work. And coding into the linuxcnc source is not easy.
I see Probe Basic is a python hmi for linuxcnc.
Today i was working on hal-core , This is a hal environment.
It has a c++ hmi that now runs the nist rs274ngc interpreter.
The interpreter misses a few gcode commands like G64. Will add them with the G9.
The idea is to code both projects together to the finish line : linuxcnc & halcore
Halcore has less code overload, uses no python, has no code forest, is compact & fast.
Halcore now reads the gcode file trough the rs274 interpreter and shows the results in opencascade :
Halcore has no Milltask component. So i will create one for it, But will name it different.
I have a question about gcode file from robh:
In the gcode there are arc's that start with z value, then the arc uses a different end z value.
Plane is xy. This arc is a spiral? I never used a spiral before, but in this case opencascade has to draw a spiral i suppose?
Also trajectory interpolation model for a arc spiral has to be made then.
That is fantastic! you just let me know when you need some testers and I will carve out the time.
It will take some time for the next test on the production machine will be done.
also if there are any user buttons or anything that will be required for settings,
I think this can be done if everything works ok.
That is fantastic!
Thanks. It's a lot off work. And coding into the linuxcnc source is not easy.
I see Probe Basic is a python hmi for linuxcnc.
Today i was working on hal-core , This is a hal environment.
It has a c++ hmi that now runs the nist rs274ngc interpreter.
The interpreter misses a few gcode commands like G64. Will add them with the G9.
The idea is to code both projects together to the finish line : linuxcnc & halcore
Halcore has less code overload, uses no python, has no code forest, is compact & fast.
Halcore now reads the gcode file trough the rs274 interpreter and shows the results in opencascade :
Halcore has no Milltask component. So i will create one for it, But will name it different.
I have a question about gcode file from robh:
In the gcode there are arc's that start with z value, then the arc uses a different end z value.
Plane is xy. This arc is a spiral? I never used a spiral before, but in this case opencascade has to draw a spiral i suppose?
Also trajectory interpolation model for a arc spiral has to be made then.
That is fantastic! you just let me know when you need some testers and I will carve out the time.
It will take some time for the next test on the production machine will be done.
also if there are any user buttons or anything that will be required for settings,
I think this can be done if everything works ok.
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18 Jun 2024 09:34 #303238
by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
Hi,
@Grotius do you mean similar to a boring operation where it's interpolation of xyz like a thread?
Yes.
In the linuxcnc axis gui it draws a spiral (i think). So normally you would not mention, he this is a spiral.
You see in the gcode line, there is a little z difference in the upfollowing arc move.
In my gui it draws a pure arc on xy plane. I did not expect to draw a spiral.
So this is a spiral?
If so, i have to check if the g2, g3 moves have a z difference.
This is not difficult, but i have to create a spiral in opencascade, and a interpolation model for a spiral.
@Grotius do you mean similar to a boring operation where it's interpolation of xyz like a thread?
Yes.
In the linuxcnc axis gui it draws a spiral (i think). So normally you would not mention, he this is a spiral.
You see in the gcode line, there is a little z difference in the upfollowing arc move.
In my gui it draws a pure arc on xy plane. I did not expect to draw a spiral.
So this is a spiral?
If so, i have to check if the g2, g3 moves have a z difference.
This is not difficult, but i have to create a spiral in opencascade, and a interpolation model for a spiral.
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