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endian wrote:

Yes Rod .. it is solution but it is creating constant delay between control position -> DFIR -> current position of tool ....
 
It will not add any delay as it should be applied as the acceleration is calculated or read per servo cycle. Just not sure how you need to use it. 
the size of the buffer is configurable.
Any other published moving average solution wanted to use loops which are a source of delay so I devised this..
One of the cleverest algorithms I have ever coded...
 
 

I think the best way to apply that... its consulate with Luca or Yang Yang if they are allready not using something like that now...  I'm not that familiar with their code till now ... it toooo way complicated for me

my next observation is - high value of G64 tolerance around 0.1(650us spikes) is spiking more than 0.001(250us spikes)

best setup till now ... most influential spiking thingy is the 

Hi Andy,

I got the Schaublin updated to Trixie and 2.9.8.

I really like the update you did to the look and button layout of Lathe macros. Thanks.

I was trying to work out how to address not having any feedback on the turret arriving in position. Because I am a shit programmer, I tried Chat GPT yesterday.

 

This is the set of requirements I gave:

 

The AI summary is rather accurate.

 

 

After a couple of back and forth, adding requirements, and accepting some AI suggestions, the result is the attached files.
Scary good how fast and efficient this is for a small project with very limited requirements, and how well it documents and explains the code. It would have taken me a few evening to get to this level, and my code would have been a mess of half-arsed work-around to avoid the gaping holes in my programming knowledge.

It failed to compile yesterday, due to some unknown character. I suspect the apple text editor has added some hidden ascii code. The attached files I cut paste into a different text editor. Off to test them now.
Cheers,
Mark

Hi Andy,

I got the Schaublin updated to Trixie and 2.9.8.

I really like the update you did to the look and button layout of Lathe macros. Thanks.

I was trying to work out how to address not having any feedback on the turret arriving in position. Because I am a shit programmer, I tried Chat GPT yesterday.

 

This is the set of requirements I gave:

 

The AI summary is rather accurate.

 

 

After a couple of back and forth, adding requirements, and accepting some AI suggestions, the result is the attached files.
Scary good how fast and efficient this is for a small project with very limited requirements, and how well it documents and explains the code. It would have taken me a few evening to get to this level, and my code would have been a mess of half-arsed work-around to avoid the gaping holes in my programming knowledge.

It failed to compile yesterday, due to some unknown character. I suspect the apple text editor has added some hidden ascii code. The attached files I cut paste into a different text editor. Off to test them now.
Cheers,
Mark

@Aciera - thank you.

right after I posted the question I found an explanation from Andy & RodW that (sort-of) cleared up my confusion:

forum.linuxcnc.org/24-hal-components/327...again?start=40#93573

That was an 'Ahh-ha!' moment:  I don't know anything about C (or any other programming language) so that stuff all looks like gibberish to me.

I have the same probe, but I haven’t tested it yet. Based on the documentation I read, this probe switches on the negative (–) instead of the positive (+). So this is probably an electrical issue, and you need to change the wiring.

For a more comprehensive switchable kinematics example see:

sim/axis/vismach/5axis/table-dual-rotary

which uses:
github.com/LinuxCNC/linuxcnc/blob/master.../xyzab_tdr_kins.comp

You can download a detailed html documentation on how the kinematic component above was derived:
forum.linuxcnc.org/10-advanced-configura...mill?start=80#263694




For an example using four kinematic models see:
github.com/Sigma1912/LinuxCNC_Demo_Confi...egrex_200y_kins.comp

Why does X has a 'tran' and V doesn't?

I cannot give you a totally clear answer but that is basically just the way the data structure is setup:

pos->tran.x, pos->tran.y and pos->tran.z are the 'translational' parts of the cartesian axis pose (ie X,Y,Z axes)

The other axes elements are just called pos->a, pos->b, pos->c, pos->u, pos->v and pos->w

Is this the part of the component/programming that changes the position of the joints?:

The lines with 'pos->* = j[*]' are part of the 'Forward' kinematic model (ie the section you have on your last post). This is used to calculate the AXIS position after the respective joint has been homed. In your particular case the axis is set the same as the joint.

The lines with ' j[* = pos->*]' are part of the 'Inverse' kinematic model . This is used to calculate that particular JOINT position according to the requested AXIS position. In your particular case the joint is set the same as the axis.

Note that in your CASE 1 the joints/axes mapping is actually trivial just like 'trivkins' and the only thing you do in CASE 2 it to swap the joints/axes

So each 'CASE n' in the forward model needs to have a matching reciprocal 'CASE n' in the inverse model. In other words, if you run a joint position value through the forward kinematic and you run the resulting axis position value through the inverse model you should get the exact joint position value you started out with. If the models do not match upyou will get unstable results (eg runaway values).

More specifically, when the kinematics switch is made is the above what causes the X and V axes DRO's to switch?

The switch is made using a case structure in the forward and the inverse kinematic:
Each case represents a kinematic model. In millturn.comp we have two but you can have as many as you like.
The 'switchkins_type' value is changed using an analog motion pin which is connected to a dedicated hal pin (see [HAL] section of the millturn sim config):

Bonjour a tous , 
 je viens d'acheter une nouvelle sonde 3d,je l 'ai brancher  a la place de l 'ancienne , mais j 'ai maintenant une erreur , j 'utilise linux 2.8.1, cela fonctionnait tres bien avec l 'ancienne, je pense qu il y a un parametre a changer , mais je ne trouve pas, pouvez vous m 'aider?dans le panneau de configuration de hal , j 'ai le signal.
merci

Hi, I’m new to linuxcnc and I am trying to get the rrw lab board to work. I’m trying to use the SPI sd card firmware with an STM32 Blackpill. The blackpill led is flashing, but there’s no connection. I can’t seem to find anything online about setting up SPI with a pi5. Any help would be appreciated. 
Thanks.

No, sadly not!
I tried various other things too, but nope.
I am going back to do a completely new install from scratch of Linux, etc. which requires a SSD shuffle between computers.
...

I think it might be more effective to create a dedicated component, rather than force carousel to fit.

But I think that Carousel will probably just keep the "motor-fwd" bit set high until the carousel is in the correct position, so the trick is to find a way to release the pressure and lower the carousel once the actuating cylinder hits end-of-stroke.
Is there a sensor for that?

The crude way to make this work might be to use motor-fwd to enable a siggen component that sends a suitably-timed series of pulses.

Aciera wrote:

one advantage of using switchable kinematics is that all joints can be homed normally on startup.

Trying to digest all this and a couple questions occurred to me...

Is this the part of the component/programming that changes the position of the joints?:

• CASE 1
  • pos->tran.x = j[0];
  • pos->v = j[2];
• Case 2
  • pos->tran.x = j[2];
  • pos->v = j[0];

More specifically, when the kinematics switch is made is the above what causes the X and V axes DRO's to switch?

Why does X has a 'tran' and V doesn't?  I saw that stuff in userkins.comp, but I can't find an explanation of the programming language/syntax.

 

endian wrote:

Yes Rod .. it is solution but it is creating constant delay between control position -> DFIR -> current position of tool ....
 

It will not add any delay as it should be applied as the acceleration is calculated or read per servo cycle. Just not sure how you need to use it. 
the size of the buffer is configurable.
Any other published moving average solution wanted to use loops which are a source of delay so I devised this..
One of the cleverest algorithms I have ever coded...

I don't think they do consultancy, but you are very close to the Mesa Electronics HQ.

You don't say what the inputs to and2.2 are. That is probably important.

A problem you will have is that spindle.0.index-enable is a bidirectional HAL pin, so can't be directly connected to the output of an and2 block.

You can probably work around this with linuxcnc.org/docs/stable/html/man/man9/tristate_bit.9.html

But, are you sure that your spindle encoder driver doesn't offer e direct, bidirectional, index-enable pin?

There is an example of an index-simulator HAL component here:
forum.linuxcnc.org/24-hal-components/388...ation?start=0#223508

It's written for a stepper spindle, but should work just as well (or just as badly) for an absolute encoder assuming that the encoder has an integer "counts" output.


I was going to suggest watching one bit of the binary counts value and tristate-bit. But that wouldn't zero the counts on index.

There _is_ a way to do it with a sample-hold to capture the counts at index, then subtracting that from the raw counts, that would need a bitslice, mux_generic (set up for signed int), edge, and tristate-bit HAL component.
It's do-able but at that point the custom HAL component makes more sense.