SCARA Vismach - Gcode error "exceed C's positive limit"

[EMC] VERSION = 1.1 MACHINE = SCARA (genserkins,switchkins) #+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others #DEBUG = 0 [DISPLAY] DISPLAY = axis CYCLE_TIME = 0.200 POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.0 PROGRAM_PREFIX = ../../nc_files/ INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PYVCP = scara.xml #EDITOR = geany [RS274NGC] SUBROUTINE_PATH = ./remap_subs HAL_PIN_VARS = 1 HAL_PIN_VARS = 1 REMAP = M428 modalgroup=10 ngc=428remap REMAP = M429 modalgroup=10 ngc=429remap REMAP = M430 modalgroup=10 ngc=430remap PARAMETER_FILE = scara.var # startup mm and offsets for axis.ngc demo file: RS274NGC_STARTUP_CODE = G21 G10L2P0 x432 y65 z416 (debug, ini: startup offsets) [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 SERVO_PERIOD = 1000000 [TASK] TASK = milltask CYCLE_TIME = 0.010 [KINS] JOINTS = 6 # switchkins: # kinstype==0 (default scarakins) # j0,j1,j2,j3 -- implement scarakins for xyzc # j4 == world->a (scaragui j4 is table tilt (y)) # j5 == world->b (scaragui j5 is table tilt (x)) # kinstype==1 (identity, assign per coordinates=xyzcab) # letter x -- assigned to j0 # letter y -- assigned to j1 # letter z -- assigned to j2 # letter c -- assigned to j3 # letter a -- assigned to j4 (same as scarakins) # letter b -- assigned to j5 (same as scarakins) # kinstype==2 (userk, template is identity, user may specify) # # Note: coordinate= ordering for identity kins preserves ab relationships KINEMATICS = scarakins coordinates=xyzcab [HAL] HALUI = halui HALFILE = LIB:basic_sim.tcl HALCMD = loadusr -W scaragui HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type POSTGUI_HALFILE = scara_postgui.hal [HALUI] # M428:scara kins (kinstype==0 startupDEFAULT) # M429:identity kins (kinstype==1) # M430:userk kins (kinstype==2) MDI_COMMAND = M428 MDI_COMMAND = M429 MDI_COMMAND = M430 [TRAJ] COORDINATES = XYZABC LINEAR_UNITS = mm DEFAULT_LINEAR_VELOCITY = 10.0 MAX_LINEAR_VELOCITY = 600.0 DEFAULT_LINEAR_ACCELERATION = 100.0 MAX_LINEAR_ACCELERATION = 200.0 ANGULAR_UNITS = degree DEFAULT_ANGULAR_VELOCITY = 10.0 MAX_ANGULAR_VELOCITY = 600.0 DEFAULT_ANGULAR_ACCELERATION = 100.0 MAX_ANGULAR_ACCELERATION = 200.0 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = scara.tbl [AXIS_X] MAX_VELOCITY = 30.0 MAX_ACCELERATION = 200.0 [AXIS_Y] MAX_VELOCITY = 30.0 MAX_ACCELERATION = 200.0 [AXIS_Z] MAX_VELOCITY = 30.0 MAX_ACCELERATION = 200.0 [AXIS_C] MAX_VELOCITY = 60.0 MAX_ACCELERATION = 400.0 [JOINT_0] NAME = shoulder TYPE = ANGULAR MAX_VELOCITY = 30.0 MAX_ACCELERATION = 200.0 MIN_LIMIT = -360.0 MAX_LIMIT = 360.0 HOME_OFFSET = 0.0 HOME = 0.000 HOME_SEQUENCE = 0 [JOINT_1] NAME = elbow TYPE = ANGULAR MAX_VELOCITY = 30.0 MAX_ACCELERATION = 200.0 MIN_LIMIT = -360.0 MAX_LIMIT = 360.0 HOME_OFFSET = 0.0 HOME = 0.000 HOME_SEQUENCE = 0 [JOINT_2] NAME = z-slide TYPE = LINEAR MAX_VELOCITY = 30.0 MAX_ACCELERATION = 200.0 MIN_LIMIT = 25.0 MAX_LIMIT = 300.0 HOME_OFFSET = 25.0 HOME = 25.000 HOME_SEQUENCE = 0 [JOINT_3] NAME = wrist TYPE = ANGULAR MAX_VELOCITY = 60.0 MAX_ACCELERATION = 400.0 MIN_LIMIT = -180.0 MAX_LIMIT = 180.0 HOME_OFFSET = 0.0 HOME = 0.000 HOME_SEQUENCE = 0 [JOINT_4] NAME = table_rotate TYPE = ANGULAR MAX_VELOCITY = 60.0 MAX_ACCELERATION = 400.0 MIN_LIMIT = -180.0 MAX_LIMIT = 180.0 HOME_OFFSET = 0.0 HOME = 0.000 HOME_SEQUENCE = 0 [JOINT_5] NAME = table_rotate TYPE = ANGULAR MAX_VELOCITY = 60.0 MAX_ACCELERATION = 400.0 MIN_LIMIT = -180.0 MAX_LIMIT = 180.0 HOME_OFFSET = 0.0 HOME = 0.000 HOME_SEQUENCE = 0

/* joint[0], joint[1] and joint[3] are in degrees and joint[2] is in length units */ static int scaraKinematicsForward(const double * joint, EmcPose * world, const KINEMATICS_FORWARD_FLAGS * fflags, KINEMATICS_INVERSE_FLAGS * iflags) { double a0, a1, a3; double x, y, z, c; /* convert joint angles to radians for sin() and cos() */ a0 = joint[0] * ( PM_PI / 180 ); a1 = joint[1] * ( PM_PI / 180 ); a3 = joint[3] * ( PM_PI / 180 ); /* convert angles into world coords */ a1 = a1 + a0; a3 = a3 + a1; x = D2*cos(a0) + D4*cos(a1) + D6*cos(a3); y = D2*sin(a0) + D4*sin(a1) + D6*sin(a3); z = D1 + D3 - joint[2] - D5; c = a3; *iflags = 0; if (joint[1] < 90) *iflags = 1; world->tran.x = x; world->tran.y = y; world->tran.z = z; world->c = c * 180 / PM_PI; world->a = joint[4]; world->b = joint[5]; return (0); } //scaraKinematicsForward() static int scaraKinematicsInverse(const EmcPose * world, double * joint, const KINEMATICS_INVERSE_FLAGS * iflags, KINEMATICS_FORWARD_FLAGS * fflags) { double a3; double q0, q1; double xt, yt, rsq, cc; double x, y, z, c; x = world->tran.x; y = world->tran.y; z = world->tran.z; c = world->c; /* convert degrees to radians */ a3 = c * ( PM_PI / 180 ); /* center of end effector (correct for D6) */ xt = x - D6*cos(a3); yt = y - D6*sin(a3); /* horizontal distance (squared) from end effector centerline to main column centerline */ rsq = xt*xt + yt*yt; /* joint 1 angle needed to make arm length match sqrt(rsq) */ cc = (rsq - D2*D2 - D4*D4) / (2*D2*D4); if(cc < -1) cc = -1; if(cc > 1) cc = 1; q1 = acos(cc); if (*iflags) q1 = -q1; /* angle to end effector */ q0 = atan2(yt, xt); /* end effector coords in inner arm coord system */ xt = D2 + D4*cos(q1); yt = D4*sin(q1); /* inner arm angle */ q0 = q0 - atan2(yt, xt); /* q0 and q1 are still in radians. convert them to degrees */ q0 = q0 * (180 / PM_PI); q1 = q1 * (180 / PM_PI); joint[0] = q0; joint[1] = q1; joint[2] = D1 + D3 - D5 - z; joint[3] = c - ( q0 + q1); joint[4] = world->a; joint[5] = world->b; *fflags = 0; return (0); } // scaraKinematicsInverse()

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