Convert LinuxCNC Sim to Real Machine
- Project_Hopeless
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I'm getting various error at almost every turn. Would it be better to take the sim INI and HAL files and create the machine from those?
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config and convert it to a hardware config than adding new joints/axis
to a hardware configuration.
adding joints/axis would mainly consist of copy/pasting/renumbering
axis/joint sections of the hal and ini files. You could use a 6 axis sim config
as a model for the kinematics related settings.
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- Project_Hopeless
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The one issue I have with the machine is I can jog all the joint axis. When I switch to Cartesian only every other DOF works (X,Y,Z,w,p,r). For example Y, w,r work, and X,Z,p do not.
I'm not yet loading the moveo_hal. If I do I get something like already in use kid of errors. So I'm asking myself what in that file is needed that wasn't included in the main.hal (MesaCT) build.
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[edit]
You seem to have had a working basic config here:
forum.linuxcnc.org/39-pncconf/52567-how-...r-6-dof-robot#299822
So I'm confused as to where you are in your process. Did you have a working setup with trivkins kinematics and now you have these problems after switching to genserkins?
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- Project_Hopeless
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That post was me figuring out the correct firmware and P1 BOB for the 7i96s to get the RC servo gripper working with RCpwm on a very basic machine. I've only ever had the 6-DOF kinematics working with the sim.[edit]
You seem to have had a working basic config here:
forum.linuxcnc.org/39-pncconf/52567-how-...r-6-dof-robot#299822
So I'm confused as to where you are in your process. Did you have a working setup with trivkins kinematics and now you have these problems after switching to genserkins?
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Only move on to genserkins and switchable kinematics once everything works in trivial kinematics. The halfile and postgui_halfile in the sim config can help you with this step (ie connections to setup switchkins and genserkins DH parameters) but '_cmds.hal' is auto-generated for the simulation and will only cause you confusion.
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- Project_Hopeless
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I have a 5 axis machine working moving in joint mode so the hardware checks out.Aciera post=309633 userid=25994In that case use PncConf or MesaCT to create an XYZA config (IIRC that is the maximum number of axes supported in the configurator) and get that working in trivial kinematics (ie motors move correctly). Once that works copy/modify the A axis/joint entries in the hal and ini files to create the other axes you need and get them working as well.
Can trivkins handle 6 axis, revolute, X,Y,Z,A,B,C or do I need to progress to genserkins at this point?
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KINEMATICS = trivkins
JOINTS = 6
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- Project_Hopeless
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I'm getting the following error.
moveo_postgui.hal:3: Pin 'halui.mdi-command-00' does not exist
The same post gui code works in my sim.
# pyvcp connections (a postgui hal file) for:
net :identity-button <= pyvcp.identity-button => halui.mdi-command-00
net :genserkins-button <= pyvcp.genserkins-button => halui.mdi-command-01
net :unused-button <= pyvcp.toolcoord-button => halui.mdi-command-02
My INI file is setup the same I believe,
[code[RS274NGC]
PARAMETER_FILE = parameters.var
SUBROUTINE_PATH = ./remap_subs
HAL_PIN_VARS = 1
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap
REMAP = M430 modalgroup=10 ngc=430remap
RS274NGC_STARTUP_CODE = G10 L2 P7 X0 Y0 Z0 A-180 B0 C0 G59.1 (debug, ini: startup offsets)
][/code]
I used the Melfa/RV-6SDL xml file and the button names match.
I've seen something like this before where I cut and paste into an xml file and get weird behaviors. What might it be?
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