binary works - compilation not smoothly???
30 Sep 2018 11:01 - 30 Sep 2018 11:11 #118232
by schorsch
Replied by schorsch on topic 4th axis kinematics with tool length compensation
Hi,
ok, seems I am misunderstanding something here….
My idea was to use XYZ+A for simulanous axis stuff (like milling a cylinder along the a axis, where the centerline of the cylinder is not the centerline of the a-axis)
And to use UVW+A for indexed machining (driving to A0 then do operations in uvw, then driving to A90 and so on).
I found other possibilities like switching between rotated coordinates (YZ depending on A) and trival coordinates (YZ not depending on A). See M128. Do I understand correctly that by switching between TCP and trivial coordinates (M128) I am switching the kinematics module between trival coordinates and rotated coordinates, too? How do I setup this???? What happens to the actual position when changing the coordinates?
Other point is the WCS? I think the only way to setup a WCS is to use the center line of the A axis as 0 for Y and Z, right?
I'm feeling free to use XYZ+A+UVW or XYZ+A + M128. Depending what you tell me, what is the best choice. I have to adapt the postprocessor anyhow
Georg
ok, seems I am misunderstanding something here….
My idea was to use XYZ+A for simulanous axis stuff (like milling a cylinder along the a axis, where the centerline of the cylinder is not the centerline of the a-axis)
And to use UVW+A for indexed machining (driving to A0 then do operations in uvw, then driving to A90 and so on).
I found other possibilities like switching between rotated coordinates (YZ depending on A) and trival coordinates (YZ not depending on A). See M128. Do I understand correctly that by switching between TCP and trivial coordinates (M128) I am switching the kinematics module between trival coordinates and rotated coordinates, too? How do I setup this???? What happens to the actual position when changing the coordinates?
Other point is the WCS? I think the only way to setup a WCS is to use the center line of the A axis as 0 for Y and Z, right?
I'm feeling free to use XYZ+A+UVW or XYZ+A + M128. Depending what you tell me, what is the best choice. I have to adapt the postprocessor anyhow
Georg
Last edit: 30 Sep 2018 11:11 by schorsch.
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01 Oct 2018 15:07 #118293
by andypugh
I don't think that is even necessary. Why can't you do both with XYZA?
Replied by andypugh on topic 4th axis kinematics with tool length compensation
Hi,
ok, seems I am misunderstanding something here….
My idea was to use XYZ+A for simulanous axis stuff (like milling a cylinder along the a axis, where the centerline of the cylinder is not the centerline of the a-axis)
And to use UVW+A for indexed machining (driving to A0 then do operations in uvw, then driving to A90 and so on).
I don't think that is even necessary. Why can't you do both with XYZA?
The following user(s) said Thank You: schorsch
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01 Oct 2018 17:49 #118303
by schorsch
Replied by schorsch on topic 4th axis kinematics with tool length compensation
Hi,
ok... to be honest.... please don't laugh… I do not how to handle this in the postprocessor… but maybe you are right and it is easier to spend more time on this than to change the kinematics
Georg
ok... to be honest.... please don't laugh… I do not how to handle this in the postprocessor… but maybe you are right and it is easier to spend more time on this than to change the kinematics
Georg
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01 Oct 2018 18:42 #118307
by schorsch
Replied by schorsch on topic 4th axis kinematics with tool length compensation
Shit it really took me only 30min to check the pptions of the postprocessor…. damn…
seems I really to not need UVW any longer
Thanks a lot for your hints!
Georg
PS for everyone else who is using Inventor HSM:
optimizeMachineAngles2(0) means TCP mode -> rotated coordinates needed
optimizeMachineAngles2(1) means non-TCP mode -> trivial coordinates needed
Thanks again
seems I really to not need UVW any longer
Thanks a lot for your hints!
Georg
PS for everyone else who is using Inventor HSM:
optimizeMachineAngles2(0) means TCP mode -> rotated coordinates needed
optimizeMachineAngles2(1) means non-TCP mode -> trivial coordinates needed
Thanks again
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10 Oct 2018 19:00 #118648
by schorsch
Replied by schorsch on topic 4th axis kinematics with tool length compensation
Hi, Andy et al,
I managed again to run with 4 axis and 4 joints. And the postprocessor seems to produce good code, too. But finally I have problems to jog the A axis when using the trivial coordinates.
When multiply pressing on the jog button for the A axis very fast this occurs
It happens faster when using higher velocities...
I managed to hang the complete PC with this error. Really full stop. keyboard was blinking, couln't even move the mouse....
I do not have the same problem on any other axis
Is this a latency problem? I never had problems here
Thanks in advance
Georg
I managed again to run with 4 axis and 4 joints. And the postprocessor seems to produce good code, too. But finally I have problems to jog the A axis when using the trivial coordinates.
When multiply pressing on the jog button for the A axis very fast this occurs
LINUXCNC - 2.8.0~pre1
Machine configuration directory is '/home/georg/Desktop/linux-cnc-dev-2018-10-10'
Machine configuration file is 'BF20-2018-10-10-dev.ini'
Starting LinuxCNC...
.
Found file(REL): ./stepper_xyza.hal
Found file(REL): ./standard_pinout.hal
Found file(REL): ./manualtoolchange.hal
note: MAXV max: 50.000 units/sec 3000.000 units/min
note: LJOG max: 50.000 units/sec 3000.000 units/min
note: LJOG default: 2.500 units/sec 150.000 units/min
note: AJOG max: 60.000 units/sec 3600.000 units/min
note: AJOG default: 12.000 units/sec 720.000 units/min
note: jog_order='XYZA'
note: jog_invert=set([])
Xlib.protocol.request.QueryExtension
Xlib.protocol.request.QueryExtension
on_abort executing
task: main loop took 0.145058 seconds
joint 3 following error
emc/task/taskintf.cc 944: Error on joint 3, command number 152
on_abort executing
on_abort executing
It happens faster when using higher velocities...
I managed to hang the complete PC with this error. Really full stop. keyboard was blinking, couln't even move the mouse....
I do not have the same problem on any other axis
Is this a latency problem? I never had problems here
Thanks in advance
Georg
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10 Oct 2018 19:51 #118652
by andypugh
Replied by andypugh on topic 4th axis kinematics with tool length compensation
Following error is likely to be that the A axis simply can't move as fast as commanded.
But it really shouldn't hang the machine. The whole point of LinuxCNC os to be rock-solid
But it really shouldn't hang the machine. The whole point of LinuxCNC os to be rock-solid
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11 Oct 2018 17:46 #118674
by schorsch
Replied by schorsch on topic 4th axis kinematics with tool length compensation
Hi, thanks a lot for your quick answer,
can't move that fast because of what?
I get drive it to much higher speeds, but when Pressing the button multiple times quickly after each other (like double-click speed) it crashed?? Which parameter do I have to change?
I do not understand this, as I can drive even higher stepper speeds at the linear axis without problems
Schorsch
can't move that fast because of what?
I get drive it to much higher speeds, but when Pressing the button multiple times quickly after each other (like double-click speed) it crashed?? Which parameter do I have to change?
I do not understand this, as I can drive even higher stepper speeds at the linear axis without problems
Schorsch
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11 Oct 2018 18:51 #118681
by andypugh
Some limit or other....
What step rate are you commanding? How does that compare to the actual step-pulse + step-space time?
What is the velocity limit on the stepgen? Accel limit? How does this compare to the axis limit?
Replied by andypugh on topic 4th axis kinematics with tool length compensation
can't move that fast because of what?
Some limit or other....
What step rate are you commanding? How does that compare to the actual step-pulse + step-space time?
What is the velocity limit on the stepgen? Accel limit? How does this compare to the axis limit?
The following user(s) said Thank You: schorsch
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12 Oct 2018 16:49 #118722
by schorsch
Replied by schorsch on topic 4th axis kinematics with tool length compensation
Great, seems to be fixed.
MAX_VELOCITY was larger than STEPGEN_MAXVEL, same with acceleration
couln't reproduce the error anymore, since I changed!
Thanks a lot
Georg
MAX_VELOCITY was larger than STEPGEN_MAXVEL, same with acceleration
couln't reproduce the error anymore, since I changed!
Thanks a lot
Georg
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12 Oct 2018 17:07 - 12 Oct 2018 17:13 #118723
by schorsch
Replied by schorsch on topic 4th axis kinematics with tool length compensation
Hm....
Unfortunately, I'm running into a similar error when running in automatic mode
Most important stuff of my configuration are:
hm... I'm just realizing that I can run higher speeds in MDI than in the manual mode....why? Here it si crashing..maybe because of too high speed.... why it is like this...where can I set the total general limit?
thank you for any hint
Georg
Unfortunately, I'm running into a similar error when running in automatic mode
on_abort executing
joint 3 following error
emc/task/taskintf.cc 944: Error on joint 3, command number 1418
on_abort executing
on_abort executingMost important stuff of my configuration are:
[AXIS_A]
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
MAX_VELOCITY = 80.00
MAX_ACCELERATION = 125.0
[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 40.00
STEPGEN_MAXVEL = 60
MAX_ACCELERATION = 110.0
STEPGEN_MAXACCEL = 125
INPUT_SCALE = 22.22222
FERROR = 10
MIN_FERROR = .25
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 3
[TRAJ]
AXES = 4
JOINTS = 4
COORDINATES = X Y Z A
HOME = 0 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_VELOCITY = 5.00
DEFAULT_ANGULAR_VELOCITY = 12.00
MAX_VELOCITY = 50.00
MAX_ANGULAR_VELOCITY = 40.00
DEFAULT_ACCELERATION = 50.00
MAX_LINEAR_ACCELERATION = 50.00hm... I'm just realizing that I can run higher speeds in MDI than in the manual mode....why? Here it si crashing..maybe because of too high speed.... why it is like this...where can I set the total general limit?
thank you for any hint
Georg
Last edit: 12 Oct 2018 17:13 by schorsch.
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