you can build anything with boxes and cones
(cylinder = special case of cone)
I don't recall if vismach supports cones or just cylinders
cone is just a tapered cylinder with radius 0
the generic kind of cone I was talking about doesn't neccessarily have radius zero at the end
truncated cone really - arbitrary radius at each end
if one is zero, its a true cone, if both are the same its a cylinder
jmkasunich_: yes it does cones (all those kinds)
03cradek 07TRUNK * 10emc2/configs/5axis/ (5axis.ini 5axis.tbl 5axis.var 5axis_sim.hal README): simulated 5 axis XYZBC bridge mill
03cradek 07TRUNK * 10emc2/configs/5axis/5axis.ini: fix editor, startup mode
03cradek 07TRUNK * 10emc2/src/emc/usr_intf/axis/scripts/axis.py: more fallout from axis_mask stuff
jepler: would you please check that axis_mask fix for home and limit icons before I backport it?
03cradek 07TRUNK * 10emc2/src/Makefile: for 5axis config
03cradek 07TRUNK * 10emc2/src/emc/usr_intf/axis/scripts/5axisgui.py: get the home position right
jepler: any suggestions on how to get started with xilinx webpack? Is there a blinking led tutorial or something similar?
cradek: the teleop stuff works by supplying a vector
but yes, that vector is defined along XYZABC(UVW?) axes
so you could teleop (1,0.2,0.1,3,2.5, 0)
tissf_ is now known as tissf
LawrenceG: I haven't actually programmed any devices with xilinx ise yet. I have been using my experience with altera's IDE to get by in the xilinx tools, and originally I followed guides and hints from this website: http://www.fpga4fun.com/
LawrenceG: specifically http://www.fpga4fun.com/ISEQuickStart.html
looks like it'll help you blink an LED
cradek_: I assume the problem before your change is that on an XYZBC machine, the home symbol for B would appear next to C and the home symbol for C maybe didn't appear?
ok, I see now where it appears
the fix you made sure looks plausible
hm I seem to have porked up lathe configurations somehow !?
but after fixing that, the lathe home symbols are broken :(
03jepler 07TRUNK * 10emc2/src/emc/usr_intf/axis/scripts/axis.py: one additional home/limit fix needed for lathes
03jepler 07TRUNK * 10emc2/src/emc/usr_intf/axis/scripts/axis.py: fix bug I introduced on lathes with rev 1.136
03jepler 07v2_2_branch * 10emc2/src/emc/usr_intf/axis/scripts/axis.py: backport from TRUNK: fix display of home and limit symbols for machines with missing axes (e.g., XYZBC)
03jepler 07v2_2_branch * 10emc2/debian/changelog: note new fix
do lathes still have special code? It seems like they shouldn't need it, or am I forgetting something?
oh, the diameter thing I bet
they depended on "Y" being there where "Dia" is displayed
oh I see
that's always nice
I know I still need to test that pause/step change for you but I haven't gotten around to it yet..
no hurry.. it's mostly working already
today has been a pretty nice day..
toying around with the idea of a "key matrix scanner" component
currently trying to wrap my head around how the scanner and debounce would interact -- would one debounce the output of the scanner, or the input?
wow look at the dust blowing outside (from the construction site)
* alex_joni looks
so the scanner would have to scan each row for more than "debounce" periods, instead of moving to the next row each period
jepler: I think the problem I'm having with soft limits on rotary axes is related to your change: not in range joint 5 target -360 maxlimit 180 minlimit -180
I actually commanded 0 in this case
I homed, commanded C180, then C0
when I originally imagined doing this, one of the requirements was that to do the tricky angle reduction, the previous position should be outside +-360 degrees, but I didn't seem to actually write that part of the code..
did you see stuart describe the fanuc scheme for unlimited rotaries?
if you command C90 it will go in the positive direction until it gets to 90. If you command C-90, it goes in the negative direction until it gets to 90
of course that's clearly insane because 90 and -90 are the same position
but, that seems to be one of the schemes some machines agree on
that's clearly nuts
yes, yes it is
cradek_ is now known as cradek
03jepler 07TRUNK * 10emc2/src/hal/components/timedelta.comp: make this work on sim, even though latency-test is not particularly useful
03jepler 07TRUNK * 10emc2/src/hal/utils/comp.g: 'personality' didn't show in manpages if it was used only to control array size
cradek: (I know you probably don't know the answer to this..) in the fanuc system, how do you command a movement in the negative direction to 0 degrees? Are C0 and C-0 different?
sorry I don't know
03cradek 07TRUNK * 10emc2/bin/.cvsignore: basic 5 axis bridge kins with fixed pivot length
03cradek 07TRUNK * 10emc2/configs/5axis/5axis_sim.hal: basic 5 axis bridge kins with fixed pivot length
03cradek 07TRUNK * 10emc2/nc_files/cone.ngc: basic 5 axis bridge kins with fixed pivot length
03cradek 07TRUNK * 10emc2/src/Makefile: basic 5 axis bridge kins with fixed pivot length
03cradek 07TRUNK * 10emc2/src/emc/kinematics/5axiskins.c: basic 5 axis bridge kins with fixed pivot length
03cradek 07TRUNK * 10emc2/src/emc/task/emccanon.cc: basic 5 axis bridge kins with fixed pivot length
hmm, in at least AXIS on a metric config, the accel is teleop is wrong
skunkworks: a bridge mill where Z is on the bridge, C is on Z, B is on C, and the spindle is on B
looks a bit like this: http://timeguy.com/cradek-files/emc/5axis.png
03compile-farm 07BDI-4.51 (22.214.171.124-rtai) * 10emc2head/: build FAILED ; see http://linuxcnc.org/compile_farm/emc2head_slot6_log.txt
03compile-farm 07Ubuntu 5.10 (breezy) realtime (2.6.12-magma) * 10emc2head/: build FAILED ; see http://linuxcnc.org/compile_farm/emc2head_slot2_log.txt
cradek: did you use "rtapi_math.h"?
03cradek 07TRUNK * 10emc2/src/emc/kinematics/5axiskins.c: oops
03cradek 07TRUNK * 10emc2/nc_files/cone.ngc: better entry
03jepler 07TRUNK * 10emc2/docs/man/man3/intro.3rtapi: document rtapi_math.h and rtapi_string.h so I can point accusingly at people who don't remember to use those istead of the system includes
03compile-farm 07BDI-4.51 (126.96.36.199-rtai) * 10emc2head/: build PASSED
03compile-farm 07Ubuntu 5.10 (breezy) realtime (2.6.12-magma) * 10emc2head/: build PASSED
cradek: I ran 'cone.ngc' but I don't understand what is conical about it
imagine the part it's cutting
a beveled circle?
yeah, like you said, a cone
* jepler keeps pressing "v" on 5axisgui to cycle the preset views .. damn, still doesn't work
maybe it'll work if I press "v" again..
I'm getting occasional position jumps and "Exceeded soft limit" errors in some rotary moves - I wonder if your unfinished code isn't suitably disabled
or, maybe something else is wrong
cradek: a new project?
cradek: does the "C" axis on that machine have unconstrained rotation?
jepler: on stuart's yes, on mine, no
jepler: vismach is worth ... a million words
jepler: thankyou for the link.... now to try and wrap my head around vhdl programming
LawrenceG: fwiw I started with verilog and stuck with it. it's much less verbose than vhdl..
jepler: thanks... I have a mesa card and would like to learn about what I can do with 200k gates. There seem to be all kinds of uses for custom hardware
03cradek 07TRUNK * 10emc2/src/emc/task/emccanon.cc: more battle with tiny moves
03cradek 07TRUNK * 10emc2/src/emc/kinematics/tp.c: more battle with tiny moves
strange. with kins = BOTH, I can MDI and run a program without homing or switching to world mode
I don't think that's what's intended..
with nontrivkins, problems with tiny moves show up more easily
I've failed to make some full circles because of specifying the destination point equal to (what I think is) the current point
in the middle of a complex move from x=0 to x=0, I see x go up to 0.003 and back down
(but I don't understand why)
is the numeric stability of your kinematics so poor that it only works to 3 decimal places?
seems doubtful, it's very simple
I wonder if inverse and forward are run once cycle apart (with movement in between)
perhaps there's a bug in the __asm__ versions of the trig primitives that I borrowed
huh, contrary to what you said earlier, I can't put my 5axis sim in coordinated mode or run a program
* jepler can't quite figure out what's going on
in joint mode there are 6 joints shown, but 'home all' only homes 5 of them
just start it, machine on, mdi tab, g0x100
hmmmm .. this program fits within the little box shown by axis, but apparently it exceeds machine limits
it hits a limit when running?
yes, 728121: ERROR: linear move on line 4 would exceed limits
that's sure going to happen...
when "B" rotates, the available Z coordinates are different
the available everything coords are different
insert a longer tool and it gets worse still
(well once that works)
[20:10:46] <jepler> http://emergent.unpy.net/files/sandbox/cone.py
spirally cone shape?
do check it in
I think that the head keeps the right orientation the whole time
though there's what seems like a spurious 90 degree offset in there
you didn't use inverse time...
I guess you don't really need it for this
but yeah, the 90 seems wrong
pretty sure C0 should point in +X...
why would you need inverse time mode if your xyzabc refers to the tool tip?
I don't know, but one thing that comes to mind is that in a rotating move the parts of the tool other than the tip can be travelling faster than the tip
cool stuff guys
* alex_joni goes to bed
(gee it's early!)
If you look on the unmodified Ubuntu CD, you *will* find gcc. </paul_c>
possibly true, painfully irrelevant
jepler: half past 10.. quite early for me
oh look, motion/teleop is missing uvw stuff
but, I don't see why that makes the accel so wrong
wonder if something is wrong with servo_period in sim
it is the week for noticing that sim doesn't work, or works at best poorly