My custom designed GUI

tripwire
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8 years 6 months ago #109740 by tripwire

Replied by tripwire on topic My custom designed GUI

Thanks so much for your work on this, Grotius! I'll check it out and report back...

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KCJ
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8 years 6 months ago #109741 by KCJ

Replied by KCJ on topic My custom designed GUI

tripwire: Thanks for posting Dewey's, as always, excellent explanation! It had not even crossed my mind that the error was caused by not being in teleoperating mode. That explains why I was having trouble duplicating it, as the first thing I do when I start LCNC is home and switch to coord or teleop mode. I should have mentioned that in my previous post, but I do it so automatically that I don't even think about it!

Grotius: Thank you for taking the time to prepare and post such a complete code snip, it is very helpful!

Cheers,
Kurt

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Grotius
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8 years 6 months ago #109757 by Grotius

Replied by Grotius on topic My custom designed GUI

Hi,

Okey i forgot one thing. In the past i had problem's with multiple homing commands.
Now for homing all axis with one button this works also multiple homing commands good :

Code:

self.c.mode(self.cnc.MODE_MANUAL)
       self.c.wait_complete()

       # 1:teleop, 0: joint
       self.c.teleop_enable(0)
       self.c.wait_complete()

       self.c.home(0) 
       self.c.wait_complete()
       self.c.home(2) 
       self.c.wait_complete()
       self.c.home(3) 
       self.c.wait_complete()
       self.c.home(4) 
       self.c.wait_complete()
       print " home all "

Good luck !

A ini file example for double motors on x axis :

Code:

[TRAJ]
AXES = 5
COORDINATES = X X Y Z A
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[KINS]
KINEMATICS = trivkins coordinates=XXYZA 
#kinstype=BOTH
JOINTS = 5

#######################################################
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 6025.0
MAX_VELOCITY = 125.0
MAX_ACCELERATION = 125.0

## Calculation ##
# drive : 10000 steps / rev
# pitch : 37.69    mm    / rev
# calcutation : 10000 / 37.69 = 265.3 
# scale = 265.3

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 125
MAX_ACCELERATION = 125
STEPGEN_MAXACCEL = 750
SCALE = 265.3
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10
MAX_LIMIT = 6025
HOME_LATCH_VEL = -1
HOME_SEARCH_VEL = -20
HOME_FINAL_VEL = -1
HOME_IGNORE_LIMITS = YES
HOME_OFFSET = -2
HOME_SEQUENCE = -2

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 125
MAX_ACCELERATION = 125
STEPGEN_MAXACCEL = 750
SCALE = 265.3
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10.0
MAX_LIMIT = 6025
HOME_LATCH_VEL = -1
HOME_SEARCH_VEL = -20
HOME_FINAL_VEL = -1
HOME_IGNORE_LIMITS = YES
HOME_OFFSET = -2
HOME_SEQUENCE = -2

#######################################################

A hal file example for double x motors and also the limit switches.

Code:

net both-home-x1     <= parport.0.pin-10-in-not
net both-home-x2     <= parport.0.pin-15-in-not

#net spindle-cw      => parport.0.pin-17-out

# X-AXIS #######################################################
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net x1pos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net x1pos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net x1step <= stepgen.0.step
net x1dir <= stepgen.0.dir
net x1enable joint.0.amp-enable-out => stepgen.0.enable
net both-home-x1 => joint.0.home-sw-in
net both-home-x1 => joint.0.neg-lim-sw-in
net both-home-x1 => joint.0.pos-lim-sw-in

setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net x2pos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net x2pos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net x2step <= stepgen.1.step
net x2dir <= stepgen.1.dir
net x2enable joint.1.amp-enable-out => stepgen.1.enable
net both-home-x2 => joint.1.home-sw-in
net both-home-x2 => joint.1.neg-lim-sw-in
net both-home-x2 => joint.1.pos-lim-sw-in

The following user(s) said Thank You: tripwire

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KCJ
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8 years 6 months ago #109758 by KCJ

Replied by KCJ on topic My custom designed GUI

Grotius, if the home sequences are specified in the INI then self.c.home(-1) should home all in the home sequence specified. It is not advisable to hard code the home sequence.

Cheers,
Kurt

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Grotius
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8 years 6 months ago #109767 by Grotius

Replied by Grotius on topic My custom designed GUI

Hi kcj,

I would do so. I Have tried several times in the past to home with the -1 command, in the python code and also in glade.
In the gmocappy python code it is also done by this way. But it is not showing why it works over there. And that is a big puzzle.

If you trigger the home all button multiple times, then i get complaint's in the past. So to avoid that i did hard coding.
I was not able to find the solution, even asked this before on this forum. If you say that it has to do with the ini file. i will try your advise. Thanks a lot.

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tripwire
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8 years 6 months ago #109811 by tripwire

Replied by tripwire on topic My custom designed GUI

fwiw, the self.c.home(-1) was the only thing that worked for me to home all axis.

I tried the following, separate homing sequences with the noted results:

Code:

#===============================================
        self.c.home(0) 
        self.c.wait_complete()
        self.c.home(1) 
        self.c.wait_complete()
        self.c.home(2)
        self.c.wait_complete()                      
        # this just homes my Y axis, consiting of joints 1 & 2

#==================================================
        self.c.home(0) 
        self.c.wait_complete()
        self.c.home(1) 
        self.c.wait_complete()
        self.c.home(3) 
        self.c.wait_complete()                      
        # This homes axis Y and Z (joints 1, 2 and 3)

#======================================
        self.c.home(3) 
        self.c.wait_complete()
        self.c.home(0) 
        self.c.wait_complete()
        self.c.home(1)
        self.c.wait_complete()                      
        # just homes Y axis (joints 1 & 2)

#============================================
        self.c.home(0) 
        self.c.wait_complete()
        self.c.home(0) 
        self.c.wait_complete()
        self.c.home(1)
        self.c.wait_complete()                      
        # just homes Y

#===========================================
        self.c.home(0) 
        self.c.wait_complete()
        self.c.home(2) 
        self.c.wait_complete()
        self.c.home(3)
        self.c.wait_complete()                      
        # homes Y & Z

I never did manage to home the X-axis this way. The one cool thing about the "separate" method is when more than one axis was homed, they homed simultaneously, instead of waiting for each axis' homing to complete.

One day I'll have this all figured out...! (But then the fun will be gone

)

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My custom designed GUI