Convert LinuxCNC Sim to Real Machine

I have a sim working based off the Melfa robot sim. Now I'm in the process of building the machine starting with MesaCT generated files then hand editing a 6th axis etc.

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?

 

I would think it would be much more editing work  to take a sim
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.

Eventually I want the machine with the robot gui sim panel running.  But for now I'm just focusing on the physical machine itself.  Is the moveo_hal all required for the machine or is it a combination of machine and sim pins and I need to sort those out? 

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.     

 

1. Forget the '_cmds.hal' file from the sim config.

[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?

[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?
 

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. 

In 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.
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.

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.
 

I have a 5 axis machine working moving in joint mode so the hardware checks out. 

Can trivkins handle 6 axis, revolute, X,Y,Z,A,B,C or do I need to progress to genserkins at this point?

 

trivkins should handle 6 axis no problem:

KINEMATICS = trivkins
JOINTS = 6

So I have all 6 axis jogging and now I'm adding the buttons to toggle between joint and world/Cartesian.

I'm getting the following error.
The same post gui code works in my sim.
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?