hal-core

Hi Dave,

I will have to look in the code. I think we have to reset a value somewhere.






 

Latest archive : github.com/grotius-cnc/hal-core/releases/tag/1.4

 


At the moment the gcode can be rotated 3d by setting hal parameters.
tool tcp has a 3d axis cross, the result (control status) of the machinemodel.hal file.
background picture can be changed by user. Just rename your picture to : background.jpg
all communication is done by hal, even the file names are done by hal-port.

So far so good.

Tomorrow i will focus on the robot jog buttons. They are done by the hal_trajectory component.
At the moment we can jog in cart xyz.

1. To code : move joints 0-5 degrees, move in tooldirection xyz, rotate around tool tcp euler xyz.

After that i can focus at the trajectory planner itself.

Ok. so far so good !
















 

Dave,

If you could try to add the mesa hardware and test some jogging, that would be awesome !
Maybe give the exact dxf of the heat exchanger. And a 3d stepfile of the head exchanger.
Then in the program we can add the dxf on top of the 3d model face.

In this way, we can do a nice simulation soon.
During the welding simulation, i can add inox to the weld path. Opencascade can do boolean operations. I have private
github for that.
 

Grotius, that is looking really good!

I have some different mesa hardware that I need to wire in to the robot before I can test it. The current hardware is the 7c80 with a raspberry pi, but I had boot up power problems with that so I switched to a normal PC and an ethernet card. This will have more rendering/processing power as well.
I can bench test the boards before I wire them in the machine to simulate the motion though to keep the project on track.

So the way I currently have the welding head setup is:
- The welding amperage is set on the welding machine
- Wire feeder is a DC motor connected to a drive to the mesa card and set with HAL
- Robot moves to the estimated hole location
- A 3D probe is used to center the welding head to the tube
- Welding feed is with the 6th axis rotation
- TIG tungsten to weld puddle distance is adjusted automatically by monitoring the arc voltage with a mesa ADC and adjusting the X position to maintain the setting
- There is also a preheat/postheat stage that strikes the arc and waits a set amount of time before the wire will start feeding in the weld and the rotation starts.


Hope that makes sense
I also have one of these wireless pendants for positioning the robot and I was thinking I might be able to use it to navigate the computer GUI instead of using a mouse/keyboard?

linuxcnc.org/docs/2.8/html/man/man1/xhc-whb04b-6.1.html

Hi Dave,

The pendant is ok. It can be connected to hal.

From now on if you want to get the latest code, just download the latest release. It's precompiled.

The tig torch is not in line with the robot flange. If you want to move in tig torch direction, we have to add a extra 7th "fake" axis.
Then you could also do a torch height control from that perspective. Torch height control in heat-exchanger x-direction is not
a optimal solution.

Grotius, that is looking really good!
So far i am satisfied with the result.











 

Hi Grotius,
The distance from the rotation centerline to the weld is adjusted and locked manually within the welding head so it only need to spin on its centerline and then maintain the correct arc length by moving forward or reverse (X axis I think?)

Here is a quick sketch of what I mean