Trajectory Planner using Ruckig Lib
12 Jul 2024 17:40 #305017
by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
Hi,
Thanks for the likes.
I made a test for tangential knife and for 3d plasma cut correction for 5 axis.
Here we demonstrate how to use the c axis to rotate a knife along the gcode path.
In the same flow it's possible to do side cut correction for a plasma application. Here we could use a gcode macro to
tell if it's an inside or outside contour, The realtime trajectory planner can then do the correction to inwards or outwards.
So on the list is reading gcode macro's to tell the trajectory planner different stuff.
Thanks for the likes.
I made a test for tangential knife and for 3d plasma cut correction for 5 axis.
Here we demonstrate how to use the c axis to rotate a knife along the gcode path.
In the same flow it's possible to do side cut correction for a plasma application. Here we could use a gcode macro to
tell if it's an inside or outside contour, The realtime trajectory planner can then do the correction to inwards or outwards.
So on the list is reading gcode macro's to tell the trajectory planner different stuff.
The following user(s) said Thank You: tommylight, Lcvette, Ritterchen, Aciera, tiagounderground, hmnijp
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12 Jul 2024 18:40 #305021
by Aciera
Replied by Aciera on topic Trajectory Planner using Ruckig Lib
Potentially very useful, indeed.
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- tiagounderground
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12 Jul 2024 20:28 #305029
by tiagounderground
Replied by tiagounderground on topic Trajectory Planner using Ruckig Lib
Amazing work.
Is this available for test? I have a high speed glass cutting machine that would greatly improve his performance with this features
Is this available for test? I have a high speed glass cutting machine that would greatly improve his performance with this features
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13 Jul 2024 09:28 #305062
by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
@Tiagounderground,
Is this available for test? I have a high speed glass cutting machine that would greatly improve his performance with this features
Yes, you can test or run the application in posix realtime or non-realtime.
However it is still not finished in the sence of look ahead features and more.
You can test it carefully on your machine on your own risk off course.
It has no homing features, but you can look at the hal file how to setup the axis for a xxyz machine.
Best to build the app is using the ./recompile script.
But first build& install this opencascade and clothoids
Here is the script to actually run a parport machine, this is tested ok.
Is this available for test? I have a high speed glass cutting machine that would greatly improve his performance with this features
Yes, you can test or run the application in posix realtime or non-realtime.
However it is still not finished in the sence of look ahead features and more.
You can test it carefully on your machine on your own risk off course.
It has no homing features, but you can look at the hal file how to setup the axis for a xxyz machine.
Best to build the app is using the ./recompile script.
But first build& install this opencascade and clothoids
Here is the script to actually run a parport machine, this is tested ok.
The following user(s) said Thank You: tiagounderground
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13 Jul 2024 11:49 #305067
by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
To make things easyer, I made a
appimage
for hal-core. This appimage is a cnc simulator. Its valid for x64.
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13 Jul 2024 12:19 #305069
by tommylight
Replied by tommylight on topic Trajectory Planner using Ruckig Lib
To make things easyer, I made a appimage for hal-core. This appimage is a cnc simulator. Its valid for x64.
cnc@HP-Z420:~/Downloads$ ./runtest_cnc-x86_64.AppImage
Segmentation fault (core dumped)
cnc@HP-Z420:~/Downloads$
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13 Jul 2024 12:33 #305070
by hmnijp
Replied by hmnijp on topic Trajectory Planner using Ruckig Lib
We already have a standard g-code G41/42 defining the compensation side. can't we use it?Here we demonstrate how to use the c axis to rotate a knife along the gcode path.
In the same flow it's possible to do side cut correction for a plasma application. Here we could use a gcode macro to
tell if it's an inside or outside contour,
The following user(s) said Thank You: Grotius
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13 Jul 2024 12:58 #305073
by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
Hi Tommy,
I just made some changes to the appimage. At my pc it runs from the download dir now, wich was a problem.
Please try it again and report.
Hi Hmnijp,
We already have a standard g-code G41/42 defining the compensation side. can't we use it?
Perfect point. We use that. I will code it that way.
I also have to bring in offset's soon. To zero the machine at certain point.
And i hope to start coding the fillets on the trajectory itself coming day's. Using the clothoids, then if clothoid's fails, fall
back to spline fillets.
So everything goes as planned.
I just made some changes to the appimage. At my pc it runs from the download dir now, wich was a problem.
Please try it again and report.
Hi Hmnijp,
We already have a standard g-code G41/42 defining the compensation side. can't we use it?
Perfect point. We use that. I will code it that way.
I also have to bring in offset's soon. To zero the machine at certain point.
And i hope to start coding the fillets on the trajectory itself coming day's. Using the clothoids, then if clothoid's fails, fall
back to spline fillets.
So everything goes as planned.
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13 Jul 2024 13:03 - 13 Jul 2024 13:06 #305074
by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
@Tommy,
I was thinking about the core dump. This is kernel related.
This is my output after downloading the file. Some times i have to start the app twice before i can actually jog.
This is also the case when using not a appimage.
user@debian10:~/Downloads$ ./runtest_cnc-x86_64.AppImage
Current directory: /tmp/.mount_runtesaRaBsk/usr/bin
Note: Using POSIX realtime
Created shared memory segment
user@debian10:~/Downloads$ reading motion settings.
hal ready. component id:17
Created shared memory segment
V3d_Viewer 0
Graphic3d_CView 0
OpenGL_View 0
V3d_View 0
GLXDirectRendering: Yes
GLXVendor: SGI
GLXVersion: 1.4
GLXClientVendor: Mesa Project and SGI
GLXClientVersion: 1.4
GLvendor: Intel
GLdevice: Mesa Intel(R) HD Graphics 4600 (HSW GT2)
GLversion: 4.6 (Core Profile) Mesa 22.3.6
GLSLversion: 4.60
Max texture size: 16384
Max FBO dump size: 4096x16384
Max combined texture units: 192
Max MSAA samples: 8
Viewport: 818x377
GPU memory: 1536 MiB
ResolutionRatio: 1
Unexpected realtime delay on task 0 with period 20000
This Message will only display once per session.
Run the Latency Test and resolve before continuing.
If you still keep core dump, i can edit the appimage to run Using POSIX non realtime
I was thinking about the core dump. This is kernel related.
This is my output after downloading the file. Some times i have to start the app twice before i can actually jog.
This is also the case when using not a appimage.
Warning: Spoiler!
user@debian10:~/Downloads$ ./runtest_cnc-x86_64.AppImage
Current directory: /tmp/.mount_runtesaRaBsk/usr/bin
Note: Using POSIX realtime
Created shared memory segment
user@debian10:~/Downloads$ reading motion settings.
hal ready. component id:17
Created shared memory segment
V3d_Viewer 0
Graphic3d_CView 0
OpenGL_View 0
V3d_View 0
GLXDirectRendering: Yes
GLXVendor: SGI
GLXVersion: 1.4
GLXClientVendor: Mesa Project and SGI
GLXClientVersion: 1.4
GLvendor: Intel
GLdevice: Mesa Intel(R) HD Graphics 4600 (HSW GT2)
GLversion: 4.6 (Core Profile) Mesa 22.3.6
GLSLversion: 4.60
Max texture size: 16384
Max FBO dump size: 4096x16384
Max combined texture units: 192
Max MSAA samples: 8
Viewport: 818x377
GPU memory: 1536 MiB
ResolutionRatio: 1
Unexpected realtime delay on task 0 with period 20000
This Message will only display once per session.
Run the Latency Test and resolve before continuing.
If you still keep core dump, i can edit the appimage to run Using POSIX non realtime
Last edit: 13 Jul 2024 13:06 by Grotius.
The following user(s) said Thank You: Aciera
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13 Jul 2024 13:32 #305080
by Aciera
Replied by Aciera on topic Trajectory Planner using Ruckig Lib
Just tried the updated AppImage and I also get a CoreDump on my non-RT LinuxMint machine. I then tried it on a machine with a preemt_rt kernel and when I try to start the AppImage the terminal just hangs there, no output at all.I was thinking about the core dump. This is kernel related.
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