hal-core

Hi Dave,

I just replaced the stepfiles of the fanuc. I uploaded them accidentaly to the mitsubishi folder.
So if you see a wrong robot, just replace the stepfiles.

Hi Grotius,
I installed the hal-core with the new install_guide file, so far so good.
But when I go in to the hal-core/src/hal/components/opencascade/hal and run the ./runtest
I get errors about hal_opencascade.so not found.
Do I need to install another module?

Here is what is in my hal-core/rtlib directory

 

 

Hi,

I see hal_opencascade is not in your /rtlib. So it is not build somehow.
What does this output tells you?  : $ /opt/hal-core/src/hal/components/opencascade/hal/./make

At my place it works. But i will reupload the /opencascade and /kinematics dir's to github. This will take a few minutes.
I will tell you here when its ready. And then i will do a fresh install and runtest to check if its oke.

Hi Dave,

The dirs are reuploaded.

Hi Dave,

I just did a fresh install. And it worked.
/opt/hal-core/src/hal/components/trajectory/hal$ ./runtest_fanuc

Here is my compiled hal-core dir archive

 

Deleted the old directories and redid the install_guide and everything worked!

 

Hi Dave,

Thank you for letting me know it worked !

1. You could try to add some hal pins to mesa harware in the the ./runtest file to move your robot a little bit with jog commands only.
Be carefull.
2. Check your stepfile drawings if positions of joints are perfect, try to check the exact tcp tool position.

I am working on the code of hal_opencascade.c and hal_kinematics.c to purge the halcompile coding style into pure c.

Will work on loading a gcode and let it move by a quaternion. Then you can position your heat exchanger by
hal parameter pins in 3d.



 

Hi Grotius,
Not sure if this is because it is running in a virtual machine or not, but I noticed when jogging that when I switch directions it will still move in the opposite direction almost like it has to finish a path plan? Here is a video of what it happening




 

Hi Dave,

I will have to look in the code. I think we have to reset a value somewhere.






 

Latest archive : github.com/grotius-cnc/hal-core/releases/tag/1.4

 


At the moment the gcode can be rotated 3d by setting hal parameters.
tool tcp has a 3d axis cross, the result (control status) of the machinemodel.hal file.
background picture can be changed by user. Just rename your picture to : background.jpg
all communication is done by hal, even the file names are done by hal-port.

So far so good.

Tomorrow i will focus on the robot jog buttons. They are done by the hal_trajectory component.
At the moment we can jog in cart xyz.

1. To code : move joints 0-5 degrees, move in tooldirection xyz, rotate around tool tcp euler xyz.

After that i can focus at the trajectory planner itself.

Ok. so far so good !