how do you take a good picture of a shiny chrome object? reflections make it look horrible
eric_unterhausen: light tent
sigh - someday I'll actually be prepared for something, instead of running around like a crazy person at the last minute
tomp is now known as tom3p
holy shit, google is down again
it's back up
hello from mpm!
hello from Dallas!
hey cradek, do you have any suggestions for getting ssh to work from within a script (and not prompt for a password)?
how's the weather there?
I forget the fibal decision - are you coming?
uh, well. if things work tomorrow (they didn't quite today), then yes
cool, I guess
I think I have the answer though - it seems that udev permissions are a little different when remotely connected rather than local
or something like that
I ask the ssh question because anything I do needs to be done on 12 headless computers, so making a "foreach computer xxx" script would be a big help
ssh-keygen, then copy that to the target's authorized_keys
oh. is it that simple?
I suppose it must be, or our CVS access would be a lot harder
well, bedtime. thanks for the ssh pointers
enjoy Wichita :)
me too, goodnight
launch all "zig"
so much for security http://www.theregister.co.uk/2009/05/21/lost_white_house_hard_drive/
near to us
got mahself a new 24" LCD
its pretttty big
well - are people waking up at the fest yet?
but I do have 5 axis movement now
archivist: what ended up being the problem?
I have up on that card and stole some more pins from the first parport
so no chance of homing and safety at the moment
archivist What, no BRB???
(BRB == Big Red Button)
I did identify a safety concern with axis last night
Safety Relay are pretty cool, if you can get your pas on one
alex_joni: The ICKY kind
alex_joni, as there is no current key to jog B I was jogging B with the mouse then pressed a key yo jog another axis at the same time mouse control is lost and B carries on
escape did the right thing and stopped B
I dont have room for a full 360 degree rotation so it matters to me
arg, assigned to me!?
cradek_ is now known as cradek
wernt me guv
* alex_joni snickers
cradek: that happens if you're on the road too long :P
* alex_joni agrees
archivist It's BUY IT NOW too
relays I can get not a problem
archivist SAFET RELAY????
$31 for shipping no thanks
It's still a good price
I have relays and buttons
cradek: how was the drive?
archivist you sure?
jymm stop nagging I know what Im doing
SWPadnos: Hey here's a safety relay for $40 NIB... http://cgi.ebay.com/STI-SR06AM-UNIVERSAL-SAFETY-RELAY-UNIT-NIB_W0QQitemZ290289717861QQcmdZViewItemQQptZLH_DefaultDomain_0?hash=item43969d9265&_trksid=p3286.m20.l1116
SWPadnos: includes shipping
archivist Oh, btw... I never trust anyone that says "I know what I'm doing" ;)
...and you forget the "we are professionals
Jymmm: is it 2-channel?
All I know is that when alex_joni first turned me on to them, I thought the exact safe thing - literally.
alex_joni: as in EU specs for redundant ?
archivist is in the EU (only just though :)
SR06AM Dual-Channel Universal Monitoring Safety Relay
[14:03:50] <Jymmm> http://www.sti.com/relays/SR06AM/
alex_joni: looks like it
cool deal then
Yeah, I thought I could use buttons and latching relay too, until I found a HUGE safety flaw that if the START button gets stuck closed, will fail the safety circuit even if you hit the BRB.
skunkworks892: it was uneventful and pleasant
skunkworks892: which day are you coming again?
I think that's why Mariss' E-STOP circuit is no longer on the website.
we are driving down friday
what would be a good remote control for linux? (from a windows box)
skunkworks892: use keys, not passwords is best
we are finally getting back to the mysql project
can't rush into these things
skunkworks892: Aso, install DENYHOSTS
what actually is a saftey relay as relates to how its different to a normal relay?
a safety relay is built for interlocks, but it could be used as a normal relay
Valen: It's basically setup in such a way that cetain conditions have to exist to reset it
so a normal relay with some logic attached?
and a lot of contacts usually
Valen: Say you open a cabinet. which shuts the system off. To reset it, you must close the cabinet AND hit a reset button before you can hit a start button (as example)
There are vaiations, but you get the basic idea.
a relay with some logic in front of it ;->
and the instructions are never that clear :)
my conversion is getting closer wooo ;->
ballscrew mounts are being made, mesa is shipping my stuff friday
when you're done, you can come over to my house and help me with mine
eric_unterhausen: I honestly think they are, you just have to play around and "get it" first
I meant they never are as clear as what you wrote
its probably some form of ladder logic, unless its just simple and or not stuff
someone on here had one, and it was a lot of "playing around" before he got it to work
eric_unterhausen: Oh, well some times have a way of writing that makes complex things make sense.
use a normal relay and a button, if its simple enough it'll probably work when you need it to ;->
safety relays are pretty nice if you can get one on ebay
It took me a while too, but I wanted it setup in a specific way.
they avoid a lot of wiring
What took me the longest to figure out is to have the BRB illuminated when the safety circuit was engaged
I'll have to have a look at one
When you hit the button, illuminate the button.
and when reset, illuminate the start button when ready.
that was a pita
* alex_joni passes Jymmm a flashlight
[14:31:17] <Valen> http://shop.ebay.com.au/merchant/duftech_W0QQ_nkwZQQ_armrsZ1QQ_fromZ
has some good stuff
Nah, I just wat\nted the controls to indicate the status of the sstem at a glance.
i was going to get his brushless servo motors, but he doesnt have the drivers for them and its $400 shipping to get them to the good side of the planet
especially since the ESTOP could be trigered by things other than the BRB
cradek: are you at stuarts?
You have been there a few times before - right?
yes, not sure how many
cradek: big question is - how is the internet access? ;)
good now I think, after a few false starts
woohoo - just got 72 more of the igbt's.
about $1 a piece
the guy seems to have some more.
[15:13:52] <BJT-Work> http://www.linuxcnc.org/component/option,com_comprofiler/task,userProfile/Itemid,17/user,763/lang,en/
[15:16:39] <skunkworks892> http://cgi.ebay.com/INTERNATIONAL-RECTIFIER-G4PF50WD-LOT-OF-2-NEW_W0QQitemZ250303184291QQcmdZViewItemQQptZLH_DefaultDomain_0?hash=item3a473b7da3&_trksid=p3911.c0.m14&_trkparms=72%3A1205%7C66%3A2%7C65%3A12%7C39%3A1%7C240%3A1318%7C301%3A1%7C293%3A1%7C294%3A50
those are some nice igbt's
that's what she said
digikey 2500 qty price for those is $4.35 or so
those are what I am using in this http://www.electronicsam.com/images/KandT/servostart/schem/latestcurrentlimit/right.JPG
heh you and your phat caps ;-P
running off mains or an isolation / stepdown transformer?
hello from wichita
will be web camera there ?
micges: I don't know.
hello from Poplar Bluff
there's not much to see, and we're not terribly photogenic
steve_stallings is now known as steves_logging
Dallur: hows the boat?
this is really cool. http://www.cnczone.com/forums/showthread.php?t=81125
he is giving a cpld demo with a microsteping drive as an example.
code circuit and all
marris from gecko drives
Currently Active Users Viewing This Thread:
.Bubba, .pminmo, .Big John T, .samco, .Mariss Freimanis
and an anon over here
does anyone know why the model in puma sim the linear moves arnt striaght ?
garage_seb: around ?
micges, hi i'm at fest :-)
getting crowded there
colin_: cause the kinematics isn't 100% right
or the vismach model isn't 100% up to scale
heh, this feels really cheap: http://www.dealextreme.com/details.dx/sku.5831
was just trying to find out if the kine isnt working yet or if its just a model mismatch
colin_: that's the best kins that has been contributed to emc2
I think it's 10+ years old
just trying to get my head around it
lots of maths in there
I've readed that you reproduced part of mesa bug ?
micges, yes, i'm working on it now :-)
watch Trunk :-)
colin: I am pretty sure the model doesn't match up with the kins. (I was going to make hal pass the arm lengths to the vismach but never got to it.)
the scara kins/vismach does that.
ah ok cool
im trying to work out what the hal A2 A3 D2 D3 mean in terms of the arm
[19:40:18] <skunkworks892> http://www.electronicsam.com/images/puma/pumaarm.jpg
garage_seb: ok cool
if you do a search for puma - you will find what each length means. (I thougt I had wrote all of the terms on the sheet - I guess I didn't)
colin_: you can also search for D_H
yeah i downloaded a pdf
or something like that
but it didnt seem to match the lengths
they defined a standard way of naming the distances between joints
A2 is set at 300
seems I only borked an extra 't'
[19:42:38] <alex_joni> http://en.wikipedia.org/wiki/Denavit-Hartenberg_Parameters
but the length for the arm is 432mm ?
[19:43:51] <alex_joni> http://www.bridgeport.edu/sed/risc/html/proj/damir/theory.html
so if A2 and D4 are the arm lenghs
colin_: maybe try these: http://www.cs.cmu.edu/~chuck/robotpg/robofaq/12.html
what are the other 2 ?
alex_joni, thanks :)
they are not arm lenghts
they are offsets
you can read about it here: http://www.et.byu.edu/~ered/ME537/Notes/Ch3-537.pdf
but things don't quite add up ;)
different sources report different values
[19:51:51] <colin_> http://www.kawasakirobotics.com/PDFs/JS10.pdf
that is the arm iv just aquired
colin_: it was the closes to working I could get it without an actual puma around ;)
so im trying to work out what the puma stuff means so i can modify it to suit
beware that the puma560 is implemented as a special case of a general serial 6-dof arm
what you mean ?
puma only has A2,D2,A3,D3
yours might have A4,D4, etc
the puma560 has some axes aligned, and thus the math is a bit easier
yes i have that in this arm too
I think the rotation point of joint2 is in the same plane as the one for joint0
you can see in the pdf file
well.. it's scanned ;)
I can only guess
but it looks like 0,2 and 5 are colinear in that position
similar in the axis to the puma from what i can see
you might be lucky then ;)
if i can get this working as a nice little 5axis mill on the mini arm
ill be happy to try it on a big ABB
i just figure its safer to test on something that cant throw me across the room ;)
colin_: keep reading http://www.et.byu.edu/~ered/ME537/Notes/Ch3-537.pdf
that should cover most you need to learn before figuring it out
lots of reading :)
wish id payed more attention in maths
hmm it does seem like the figures in the puma dont match with the real world bot
colin_: the issue in emc2 is if the kinematics numbers match the numbers in the vismach model
there really is no scaling in the vismach model
yup im just trying to check those
its the vismach model thats not making much sense to me
iirc jmk just made the model to play with vismach. I don't think he actually scaled it out.
the scara model has assignments to D1, D2 ect
skunkworks, ah that makes sense
im not quite sure how the vismach works from the model file
not much documentation on it as yet
colin_: in your place I would start by looking for a 3d model of your bot
you can convert that to stl or some other mesh format which vismach can read
i can knock one up in CAD easy enough
in fact i you can get the models for the ABB arms quite easy from there website
colin_: what robot do you have?
kawasaki js10 ?
[20:13:57] <colin_> http://www.kawasakirobotics.com/PDFs/JS10.pdf
just want to test it all out on the js10 first
this is how it should work: http://download.visualcomponents.net/elib/2009/Brochures/RobotWizardAddOn%20Manual.pdf
except that 3D-Create .. the software there, costs about 40k
40k :P bargain
so vismach just runs stls
colin_: not stls but obj's, pretty close though
there's meshlab at sourceforge which can convert to/from most any mesh
cant work out what the offsets A3 and D3 are
ah D3 must be the offset from centerline to wrist centerline
steves_logging is now known as steve_stallings