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[00:05:32] <PCW> hmm are you hal-wiring the limit switches _though_ the gantry component? there should be only one common home signal from the gantry comp to motion
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[00:29:31] <PCW> here's Charles example homing setup:
[00:29:33] <PCW> https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Probotix/Comet.hal#L105-L111
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[10:30:42] <jthornton-> that's pretty much what I have, the only thing I can think of at this time in the morning is perhaps I have the inputs switched
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[12:02:19] <pcw_home> switches swapped vs gantry position outputs?
[12:04:31] <skunkworks> pcw_home, around 279us max thread
[12:04:45] <pcw_home> also limit switch inputs to the gantry comp must be active high
[12:05:16] <pcw_home> for the I5?
[12:05:22] <skunkworks> pcw_home, yes
[12:05:32] <skunkworks> been running all week
[12:06:59] <skunkworks> My laptop is getting screwey - I am seriously thinking of installing debian on it. (instead of ubuntu which it currently has)
[12:07:12] <pcw_home> I still have no real idea what makes a difference in Preempt-RT performance The H81/H97 /GXXX are great ( ~150 usec max thread running 3 months)
[12:07:53] <skunkworks> well - always running velocity mode servos - not a problem ;)\
[12:07:54] <pcw_home> Screwy? is that a technical term?
[12:08:23] <skunkworks> it has stopped going to sleep when I close it - so sometimes I find a hot mess in my backpack.
[12:09:37] <pcw_home> Ahh maybe laptop support is still a weak spot (it always just turn it off when running linux)
[12:09:45] <skunkworks> (I am suprised this laptop still is working - I have cooked it a quite a few times now)
[12:10:43] <skunkworks> first gen i7
[12:11:35] <pcw_home> the Zotac has about 550 usec worst case servo thread time but seems OK at 1 KHz (up nearly a week now running Youtube videos etc)
[12:12:29] <pcw_home> probably was an expensive laptop originally so well made
[12:12:47] <skunkworks> a coworker has an i5 nuc - I should try uspace on it.
[12:13:24] <skunkworks> I bought it refurbished - about $1000. so yah.
[12:13:42] <skunkworks> the nuc didn't run rtai well
[12:16:23] <pcw_home> Probably the RTAI kernel is just too old for the NUC (or the NUC has power management that cant be disabled)
[12:16:25] <pcw_home> on the Zotac I had big (multi ms) latencies until I used the very latest Preempt-RT
[12:16:40] <pcw_home> kernel
[12:17:12] <skunkworks> I am really glad rt_preempt picked back up again
[12:17:55] <pcw_home> This core duo has 228 usec max servo thread time (about 2 weeks linuxcnc uptime)
[12:20:26] <skunkworks> The matsuura has a counterbalanced Z - should be interesting to tune.
[12:20:32] <pcw_home> ($40 ebay Elite DC7800 SFF)
[12:21:07] <pcw_home> counterweight?
[12:21:13] <skunkworks> yes
[12:21:28] <skunkworks> double chain - over the top down the column.
[12:21:38] <pcw_home> dont exceed 1 G going up!
[12:21:56] <skunkworks> I think we have some of them here. either 7800 or 7900
[12:22:06] <skunkworks> heh
[12:22:58] <skunkworks> could get over 1g - just would get a 'clunk' when the weight cought back up.. ;)
[12:24:51] <pcw_home> that would be hard to tune around :-)
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[12:51:18] <jthornton> in a program description it says "API reference can be found in the doc strings."
[12:51:55] <jthornton> what does that mean? I looked in user/share/docs and found the directory for it but no docs
[12:53:12] <jepler> Languages like Python include "documentation" inline with program source. These are called "docstrings"
[12:53:27] <jepler> For python modules that can be 'import'ed, this documentation can be viewed in formatted form with pydoc
[12:53:42] <jepler> but for main programs, I don't think this works in the general case
[12:54:10] <jepler> for instance, the documentation of the 'os' module, /usr/lib/python2.7/os.py, can be displayed by 'pydoc os'
[13:08:47] <JT-Shop> thanks
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[13:17:03] <JT-Shop> great, no more guessing a lot just a little
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[13:31:34] <JT-Uspace> Hmm, the switches were connected to the wrong input for the motor however I still get "hit limit in home state 7" and "joint 1 on limit switch error"
[13:32:27] <JT-Uspace> I put all the limits and home pins in a watch window and they are not on but I assume it backs off a tad
[13:33:33] <pcw_home> did you look at Charles example?
[13:35:33] <JT-Uspace> yes, it looks just like mine but I'll look again with a fresh mind this morning
[13:35:42] <JT-Uspace> zlog
[13:36:25] <JT-Uspace> opps zlog must be broken
[13:41:57] <JT-Shop> <pcw_home> also limit switch inputs to the gantry comp must be active high
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[13:42:28] <JT-Shop> closed when on the switch I assume because it does not work the other way
[13:42:59] <pcw_home> high in hal when on switch
[13:43:31] <JT-Shop> yes, that is how I have it
[13:43:36] <pcw_home> also see Charles note about homing directions
[13:44:06] <pcw_home> (if you look at his video homing is done verrry slowly)
[13:44:49] <JT-Shop> looking at the note but it's not making and sense to me
[13:44:58] <JT-Shop> # join the home switch signals so that both switches have to be closed to trigger a home position
[13:46:12] <pcw_home> thats what the comp does
[13:46:43] <pcw_home> ( among other things )
[13:46:55] <JT-Shop> ah I may need a home offset
[13:47:09] <JT-Shop> just looking at seb_kuzminsky shop bot
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[13:53:09] <JT-Shop> finally guessed enough times to get it to home :)
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[13:57:34] <JT-Shop> now to document what is needed
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[13:58:46] <skunkworks> Yay!
[13:59:14] <JT-Shop> yea it is way cool
[14:16:10] <JT-Shop> lol I broke it again
[14:18:11] <skunkworks> heh
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[14:27:33] <jepler> .. one reason I love having machine configs under git
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[15:01:29] <skunkworks> this is tempting other than it is nvidia
[15:01:31] <skunkworks> http://www.newegg.com/Product/Product.aspx?Item=9SIA8XK3V16866&ignorebbr=1
[15:03:38] <skunkworks> I am used to 1080 res - so I don't want anything less..
[15:05:12] <jepler> with debian jessie, my laptop with nvidia works well. it even gets RT performance good enough to develop hm2_eth.
[15:05:50] <jepler> I'm not sure about this laptop, but many are combo intel/nvidia, and you can also just use the intel video if you prefer
[15:06:07] <skunkworks> what laptop?
[15:06:11] <jepler> in fact the way mine's set up that's what I do, and I have to make an extra step to run something (*cough*games*cough*) on the nvidia side
[15:06:19] <jepler> oh an older lenovo thinkpad
[15:06:30] <jepler> https://emergent.unpythonic.net/01365079830
[15:06:31] <jepler> afk
[15:06:42] <skunkworks> I have always liked the feel of the lenovos.. never had one though
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[15:45:53] <jepler> another headache was that it turned out the displayport video output is only attached to the nvidia card, not the integrated intel graphics, and so I couldn't find a way to switch from my regular setup to displayport without modifying BIOS settings to boot the nvidia graphics (and changing xorg configuration etc)
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[16:06:56] <JT-Shop> figured it out the gantry component only waits so long for the second switch to make and if not it just keeps going... probably not the best thing for it to do
[16:08:46] <JT-Shop> hmm it's not a time but both switches have to be made
[16:15:00] <JT-Shop> hmm it homes but does not apply any offset
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[16:18:13] <JT-Uspace> From the man page When the system is homing and a joint home switch activates, the command value sent to that joint is "frozen" and the joint offset value is updated instead.
[16:18:49] <JT-Uspace> I'm not seeing the joint that contacts the switch first "freezing" so I suspect I still have a configuration problem
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[16:58:38] <seb_kuzminsky> Ubuntu 16.10 Yakkety Yak
[16:58:40] <seb_kuzminsky> awesome
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[17:05:45] <jepler> "YOLO Yak" should get together with "Bad Decision Dinosaur". They could have epic times.
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[17:06:14] <jepler> hm the "YOLO Yak" is already a trademark name for a Kayak. so forget it.
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[17:35:54] <JT-Uspace> looking at Charles gantry hal file and I see this newinst gantry gantry.0 pincount=2
[17:36:20] <JT-Uspace> #loadrt gantry count=1 personality=2
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[17:39:37] <pcw_home> newinst is supported by machinekit only
[17:39:46] <JT-Uspace> ah ok
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[17:58:14] <pcw_home> gantry.0.search-vel connected?
[18:01:20] <JT-Shop> let me check
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[18:08:37] <JT-Shop> nope, it was not connected. now the first motor stops on contact with the switch but the second one goes too far
[18:08:40] <JT-Shop> getting closer
[18:15:51] <JT-Shop> yes, it is working now thanks pcw_home
[18:16:14] <skunkworks> is this a servo or stepper machine?
[18:20:02] <JT-Shop> lol nema 17
[18:20:10] <JT-Shop> I'll get a video in a second
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[18:37:59] <JT-Shop> https://www.youtube.com/watch?v=wgNLd6A34Vo
[18:38:55] <JT-Shop> dang took a while for the phone to focus
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[18:59:00] <skunkworks> cool
[19:02:29] <JT-Shop> search velocity is a little touchy but it's just a test setup with no reduction
[19:04:25] <skunkworks> I think you have to relie on the stepgen acceleration limits for that proccess
[19:04:49] <skunkworks> rely
[19:06:07] * JT-Shop celebrates with a monkey pickle
[19:08:38] <JT-Shop> https://www.youtube.com/watch?v=1OtWNuLWfwc
[19:08:49] <JT-Shop> better focus and closer up
[19:10:15] <JT-Shop> now I have to make a gantry something or other lol
[19:10:52] <JT-Shop> but first I better go mow the weeds
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[22:50:29] <KGB-linuxcnc> 03Dewey Garrett 05joints_axes13 7bd7bb6 06linuxcnc 10src/emc/task/emctask.cc emctask.cc use task manual if motion teleop JA * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=7bd7bb6
[22:50:29] <KGB-linuxcnc> 03Dewey Garrett 05joints_axes13 dc25d22 06linuxcnc 10src/emc/usr_intf/axis/scripts/axis.py axis.py cleanup & consolidate teleop/joint sets JA * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=dc25d22
[22:50:29] <KGB-linuxcnc> 03Dewey Garrett 05joints_axes13 5ccb000 06linuxcnc 10lib/hallib/sim_lib.tcl sim_lib:simulated_home hystersis,home-pos per JA * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=5ccb000
[22:50:31] <KGB-linuxcnc> 03Dewey Garrett 05joints_axes13 4546a6e 06linuxcnc 10configs/sim/axis/xhc-hb04/inch_base.inc 10configs/sim/axis/xhc-hb04/mm_base.inc 10configs/sim/axis/xhc-hb04/mm_trivkins.inc xhc-hb04 sim configs updates JA * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=4546a6e
[22:53:25] <JT-Shop> depends on the phase of the moon... classic
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[23:08:16] <andypugh> If you look at the logs: Thanks Dewey
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