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Lower the jog speed a lot, like something really slow and try to jog again.

It's a collaborative arm. I haven't seen an earlier LCNC project that uses the dual encoder joints used in collaborative arms.

For example:
www.celeramotion.com/mechatronics-soluti...ollaborative-robots/

The tool path needs to be plotted relative to the work piece. (tool -> world -> work)

The problem is that your tool position is plotted in World coordinates (tool -> world) which works if only the tool moves because the Work coordinate system remains identical to the World coordinates.
However on a machine like yours where the tool AND the work move in space the plotter needs to track both the tool tip as well as the work piece.
This is why the 'vismach' tool needs the capture() function for the tooltip as well as for work.

Not sure but maybe the backplot in ProbeBasic only plots tool position in world coordinates instead of plotting tool position in Work coordinates?

Hi, What piece You need?

If you don't mind updating LinuxCNC, you might be better off with more current replacements for the 5I20:

PCIE --> 6I24-16
Ethernet --> 7I80HDT

The 5I20 is a 20 year old card...

Do you have the step/dir pinout information for the drive?

It does look like it may be single ended from the pictures of the
step/dir modes.

Also in your .ini file, you have the PID P term set to 0.
This should be 1000 (for a 1 ms servo thread period)
A 0 P term will cause position drift

See GIF file I have uploaded. The tool marker from view port is moving in opposite direction. I want it should be below spindle tooltip. As it moves while jogging in X or Z direction. But Y jogging time, table is moving correctly. But tool marker is moving in opposite direction.

How can I resolve this?

The problem is that the backplot needs to move with the table.

I suspect that is already in the works. 

its not wrong, which direction is the "TOOL" moving through the work?

great! glad you got everything setup! now ONLY use the apt install for the rest of the probe basic install!

   


As per your instructions I have made vismach file for my small cnc.But CNC movement if GUI is correct. But Tool movement in Y direction is wrong.My yaml file.
 

Hallo Leute,

da dieses Thema bei mir in Kürze ansteht (ebenfalls unter Probe Basic), versuche ich mich hier schon mal schlau zu machen.
Soweit meine Suche aktuell ergeben hat, gibt es zum Thema ATC mit Rack keine wirkliche Anleitung?

Ich finde leider irgendwie immer nur Schnippsel z.B. zum Thema Remap.
Woanders habe ich dann die benötigten Variablen gefunden.
Dein Toolchange-ngc - Skript scheint auch sehr interessant zu sein.

Was mir jedoch fehlt, ist hier einfach mal eine Art roter Faden wie man sich hier strukturiert durcharbeiten soll.
Was muss ich in der HAL wohin mappen (MESA 7i96s) um die Steuersignale raus und die Sensoren rein zu bekommen.
Was in der INI (gut den Tab habe ich aktiviert), wo passe ich z.B. die Anzahl der Pockets an ....

Hat hier evtl. jemand einen Info, Link, Anleitung oder finde ich das einfach nur nicht?

Danke Euch schon mal

Hi PCW,

I hope this is what you are talking about. We have our pn200 setting set at 5. Let me know if there is anything else I'm missing. Thank you for your time.