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Not sure but it seems a bit odd to me that you have a negative 'D-5' value and asymmetric angles for ALPHA-{3,4,5}:

When the example 'puma560_dh.hal' has:

and the melfa example has:

linuxcnc.org/docs/stable/html/motion/dh-parameters.html

After posting that image of the g code I believe I see it now. The % symbol is on line 5. So that would explain everything being off set considering the line is starting at 1...
I knew it had to have been something silly.

Update: That was it.... 

This is it.

If this isn't the version,  I don't know where it would be.

hi aciera!

i attached the ini hal and a second hal for the dh paramters.

possible i see somethnig not.. but genserkins with the MDH made me crazy .. hope i can fix it with the help of the forum!


Thanks for the quick answer!

Not much to go on. Please post your hal and ini files.

Also, please post the gcode

TheTinkeringMechanic1 wrote:

3.4.9

That is most probably the kernel version, not the GUI.
What user interface on screen?
It seems like GmoccaPy.
Upload a picture of the whole screen.

3.4.9

Hi guys!

I have gere a puma 200 robot arm from unimation.

All joints working
All brakes working
All encoders working
All ratios of the gears fit to encoder and measured angles anglea digital angle measurement tool.

After all this i change my kinematic to GENSERKINS

In joint mode all works.
In world mode i have issues.

There is one thing what make me headache... the TCP is upside down.

If i look to the puma560 vismach genserkins simulation.. its the same.

I set up the DH parameters.. i look to the puma 560 dh parameters in the simulation config and adapt them to my puma 200 parameters i get from the drawings.


In world mode Z looks ok... x y small radius?
But if i start the linux example i get errors of limits and kinematic errors.


Has someone the knowledge to look to it?

Thanks
Could someone help me please?

 

What GUI?

The is a minor thing that I hope is a simple fix.

The graphical display that follows the tool path is spot on with what the tool is doing. That's not a problem. What I noticed is the highlighted gcode shown isn't following the same position.
So if I tap a tool path line to highlight it in the grid of the graphic window it doesn't highlight that tool path in the gcode.
As you can see in the image I have the angled tool path highlighted which is supposed to be line 33, but in the gcode it's highlighting 29 which is the change in speed 5 lines prior.



A cursory search of the internet didn't reveal much other than recommendations to change g61,g64, but don't believe that has anything to do with this.

How do I correct this?

Thanks in advance.

djdelorie wrote:

I think my only point is, if you already have a PC with a parallel port (rare these days), the $10 breakout is a better option than anything RPI-based, because it lets you get started with LinuxCNC, which has a better growth path than GRBL. 

I absolutely agree, thank you.

I agree - for someone getting started, pay the $10 and get started.  I did that.  Just understand that you may outgrow the $10 option and need to get the $150 option (or in my case, the $220 option, and I'm looking at adding two more Mesa cards in the future).  The Mesa cards are in a completely different category of "cnc boards" and - if you need them - they're worth every penny, and cheap compared to the rest of the stuff you'll get.  But you don't need them to get started.
I think my only point is, if you already have a PC with a parallel port (rare these days), the $10 breakout is a better option than anything RPI-based, because it lets you get started with LinuxCNC, which has a better growth path than GRBL.  Assuming growth is a goal, of course

As for assembly challenges... www.delorie.com/photos/cnc2/PXL_20231229_210308596.html (and it's gotten worse since then)

I will add one caution about putting a big capacitor on the output of a switching power supply - this may cause the supply to become unstable (depends on the supply) and may cause an overcurrent trip at startup (depending on the supply).  Most power supplies themselves have to solve this problem in their input stages, using current limiting devices.