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kcjengr.github.io/probe_basic/tool_length_setter.html

be sure to set the max z travel to just a few mm larger than the spindle_zero distance. this is the distance that is commanded for the z minus probe direction and will stop the probe event if no trigger event occurs at the end of travel.
 

Hello! Today I was working on a GUI and found what the problem was! Last time I didn't do it according to the instructions. I wrote Index with a capital letter, but it should have been with a small letter. It turns out that index is case sensitive. I did this today and it worked. This is much faster than typing commands manually. Thank you!

@Grotius

Question 1:
yes s0 and se are the end points. The first clothoid of the spline P(s) starts at s0 and the last (4th) clothoid of the spline ends at se.
P_traj.(s0) = P(0) and P(s4) = P_traj.(se)
P(s) is the clothoid spline and P_traj.(s) are the curves at the beginning and end of the spline.

Question 2:
That's correct. You can either calculate first all the derivatives and transform them afterwards or you can first transform v_a1 and v_a2 and then calculate the derivatives.

Question 3:
Exactly, this is one of the boundary conditions. it is the z component of the first derivative in the starting point s_0 in the transformed coordinate system.

Question 4:
Fresnel Integrals show only up in equation 44. Until now we did not need them.

I think you are getting things confused and did steps not in the instructions. If you load firmware.bin onto the SD card the first time, it will change to firmware.cur if it loaded correctly. Your config.txt file is stored on the sdcard, it needs to remain inside the board.

if you loaded the firmware using other methods, it is possible you overwrote the bootloader in which case the firmware will not load. you might need to reinstall flash the board with bootloader, then reload the firmware.

with the stock bootloader on the octopus, all you need to do is
- put the firmware.bin on the sd card
- put config.txt on the sd card
- put sd card in octopus and leave it there
- thats it

1x Universal Stepper Controller
1x Universal PWM Controller
4x PWM Servo Amplifier
1x Spindle DAC
1x PCI-e card + cable
For specs visit: picosystems.store/shop/

 

Price: 350eur + shipping in EU (from Slovenia).
tomaz_ti1(at)hotmail.com

Alles, was ich geschrieben habe weg. (nich schön, passiert hier öfter)

Z Achse erste Anfahrt 0.03 mm danach Messuhr wieder genullt und dann bekomme ich +0.01-0.00 mm (fährt fast wieder auf 0)

Y Achse erste Anfahrt 0.02 und danach ist das immer so im Bereich +0.02-0.00 mm gelandet.

X Achse ähnlich, wie Z-Achse.+0.01-0 mm wenn die Messuhr nach der ersten Anfahrt genullt wurde.

Umkehrspiel auf der X-Achse ist 0.04 mm.

Das schockiert mich etwas, weil es viel besser als erwartet ist.

Ich habe mehrfach einfach "home all" gedrückt, so dass die Achsen aus dem Schalter fahren und sofort wieder rein.
Aber auch einige Versuche mit "Anlauf" aus 60-150 mm Entfernung habe ich gemacht. Das hatte keinen Einflusss auf die Ergebnisse.

Fazit für mich: a) "gut genug" und  b) "besser, als erwartet".

Über Hersteller, Alter, Sorte der Sensoren weiß ich nix. (gebrauchte low budget Maschine, vermutlich so um 2006-2008 )

Gruß Timo

p.s. still not convinced. ... haha.... jedenfalls muss ich da nicht ran. 
pp.s. Die Endschalter hängen am Parallelport vom Rechner, die Schrittmotoren (open loop) laufen über 6i25 mit 7i76
 

@Fiabian,

Thank you for checking this.

Question 1:
I updated the related code for eq 39. link    

Page 7, eq39.
Here the abstract states that : "s0, se are parameters at the start, end point of clothoid."

When i think about that. It's meaning or pointing to the fillet start, end point for the clothoid spline.
s0, se are in my opinion waypoints on segment 1 & 2, where the spline should start at s0, and end at se.
Can you confirm this?

Question 2:
Page 7, eq35.

Here the 2 segment transformation is done, It multiplies the segment points with the matrix T. Everything ok.

Then for the derivates is proposes to also multiply the derivates with the matrix T.
I have my questions about the workflow here.

1. We start with 2 segments in 3d space.
2. We apply transformation. The transformation uses the workflow:  eq35 -> eq33 -> eq33->eq30_theta.
3. For the transformation only one time we use eq30_theta to get the first derivate theta. Note: no cpu consuming task.
4. Transformation is done.

Given steps 1-4, only one time the first derivate is calculated. 
We did not calculate all derivates when segments where at initial 3d space position.

So eq35 to multiply all derivates by the matrix T is rendundant.
We can better calculate all the derivates when segments are in transformed position, only then we need them.

Question 3:
For the inputs of eq39.

If we look at the first line   :  Theta1.0 = asin ( ztraj ( so ) )

The first derivate theta for a point P consists out 3 values, x,y,z.
Then we used the transformed point P here.
Then for ztraj, we used the first derivate theta, the z value.

As in question 1. I think s0 & se are fillet start, end points to use here.

Question 4:
Until now, no Fresnels where required?

hi cakeslob,

I checked the firmware version (stm32F446 octopus 1.1) At some point i was using minicom and cutecom to test the spi communication, I got [42] back at some point.

I just reinstalled the firmware using CubeProgrammer. What I dont get is why config.txt with the pin mappings should go in the sd reader of the octopus board. I did a secure format of my 8 and 16 Gb sd cards from realiable brands (Kingston and Sandisk) FAT32, but I never had the firmware being renamed to firmware.cur. For this reason I believe that having the sd card in there with the config file not being read is the issue.

So I'm assuming that CubeProgrammer did a good job and the MCU is flashed correctly. However when powering the board, it takes no motor current which I thought is weird. And the linuxcnc control still stuck in estop....

Gosh what else can I try?
Thanks

p.s. maye I didnt name all things I tried but I definitely went over the checklist you provided