4th axis tangent to path XY

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10 Sep 2011 08:11 #13083 by ioiotutu
Hi,
is it possible at low level (HAL layer) move automatically 4th axis tangent to XY path?

do you have suggestions?

Thanks,
Michele

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11 Sep 2011 05:32 #13095 by 1:1
Replied by 1:1 on topic Re:4th axis tangent to path XY
Cutting with a blade ?

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11 Sep 2011 12:06 #13098 by Rick G
This does come up now and then, here is a starting point...

www.linuxcnc.org/component/option,com_ku...imitstart,6/lang,en/

Rick G

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14 Sep 2011 06:27 #13193 by ioiotutu
Thanks.
I have to cut with a disk round parts, the disk orientation must be tangent to path.

In this moment i'm thinking to calculate the angle with a external python module and generate right g-code, but my final idea is to move this routine in real time tread to have this automatic.

Michele

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15 Sep 2011 17:54 - 15 Sep 2011 17:55 #13214 by andypugh
I have attached a modified kinematics file in which the A axis value automatically changes to suit the direction of movement.

You can install this with
comp --install tangentkins.c
You can then swap "trivkins" for "tangentkins" in your HAL and INI files.

It probably needs more work.

File Attachment:

File Name: tangentkins.zip
File Size:2 KB
Attachments:
Last edit: 15 Sep 2011 17:55 by andypugh.

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16 Sep 2011 11:07 #13221 by ioiotutu
Thanks, i try to use the file.

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19 Sep 2011 16:41 #13303 by ioiotutu
Hi,
I compiled the file following your instructions and the kinematics move A axis automatically!

The angle was in radiant so i changed angle calculation on the file (see the attached file).



Is it possible lock and unlock the A axis runtime?
I mean, start the program normally withouth A automatically moved and activate the angle automatic movement only in some parts of the program.


In the next few days i can test the kinematics on a real machine.

Thanks.

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19 Sep 2011 16:43 #13304 by ioiotutu
Modified file.

Sorry.

File Attachment:

File Name: tangentkin...5dae.zip
File Size:2 KB
Attachments:

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19 Sep 2011 18:29 - 19 Sep 2011 18:31 #13311 by andypugh
ioiotutu wrote:

Is it possible lock and unlock the A axis runtime?
I mean, start the program normally withouth A automatically moved and activate the angle automatic movement only in some parts of the program.


Yes. You would need to create a HAL pin in the rtpi_app_main function, then link that pin to something in the HAL file (motion.spindle-on would work, but remember that you need to have S > 0 for M3 to change the value of that pin) then modify the kinematics code to act on the value of that pin.

Alternatively, instead of using a pin in HAL to change the mode, you could use a user-defined M-code and a shell script containing
setp tangentkins.auto 1

How much of this needs further explanation?

File Attachment:

File Name: tangentkins_3.zip
File Size:2 KB
Attachments:
Last edit: 19 Sep 2011 18:31 by andypugh.

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21 Sep 2011 09:34 #13337 by ioiotutu
Thanks,

For me It's ok to use M-codes. I build:

M151
#!/bin/bash
halcmd setp tangentkins.auto true
exit 0

M152
#!/bin/bash
halcmd setp tangentkins.auto false
exit 0

Testing this m-codes with HAL METER seems to work fine, i see the status changed but the A axis always move following XY.

I have some warnings during comp command:

root@ubuntu:/home/michele/emc2/nc_files# comp --install tangentkins.c
make -C /usr/src/linux-headers-2.6.32-122-rtai SUBDIRS=`pwd` CC=gcc V=0 -o /Module.symvers modules
make[1]: ingresso nella directory «/usr/src/linux-headers-2.6.32-122-rtai»
CC [M] /tmp/tmp8A54AP/tangentkins.o
Building modules, stage 2.
MODPOST 1 modules
WARNING: "hal_init" [/tmp/tmp8A54AP/tangentkins.ko] undefined!
WARNING: "hal_exit" [/tmp/tmp8A54AP/tangentkins.ko] undefined!
WARNING: "hal_malloc" [/tmp/tmp8A54AP/tangentkins.ko] undefined!
WARNING: "hal_pin_bit_new" [/tmp/tmp8A54AP/tangentkins.ko] undefined!
WARNING: "hal_ready" [/tmp/tmp8A54AP/tangentkins.ko] undefined!
WARNING: "rtapi_print" [/tmp/tmp8A54AP/tangentkins.ko] undefined!
CC /tmp/tmp8A54AP/tangentkins.mod.o
LD [M] /tmp/tmp8A54AP/tangentkins.ko
make[1]: uscita dalla directory «/usr/src/linux-headers-2.6.32-122-rtai»
cp tangentkins.ko /usr/realtime-2.6.32-122-rtai/modules/emc2/
root@ubuntu:/home/michele/emc2/nc_files#

what do i wrong?

Sorry but i am a newbie!

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