#emc-devel | Logs for 2006-05-19

[00:07:23] <SWPadnos> Welcome to Sunny Galesburg
[00:08:03] <skkwrk_galesburg> beautiful day.
[00:08:05] <skkwrk_galesburg> :)
[00:08:26] <SWPadnos> when are you coming over?
[00:08:37] <skkwrk_galesburg> drive was uneventfull - except the oil light coming on :)
[00:08:42] <SWPadnos> hhe
[00:08:44] <SWPadnos> heh
[00:08:50] <SWPadnos> are you at the workshop or a hotel?
[00:09:12] <skkwrk_galesburg> hotel
[00:09:19] <SWPadnos> ok.
[00:09:34] <skkwrk_galesburg> they actually have wireless access - one per room (got around that :))
[00:09:55] <SWPadnos> heh.
[00:10:00] <SWPadnos> which hotel?
[00:10:16] <skkwrk_galesburg> comfort inn
[00:10:40] <SWPadnos> ah - hopefully it's comfortable ;)
[00:11:14] <skkwrk_galesburg> seems nice so far :) - going to crash soon though. what time do things start in the morning?
[00:11:22] <skkwrk_galesburg> noon?
[00:11:25] <skkwrk_galesburg> ;)
[00:11:33] <SWPadnos> depends on who you ask ;)
[00:11:37] <jmkasunich> depends on how late we were up the night before
[00:11:45] <jmkasunich> I tend to be a night owl
[00:13:08] <skkwrk_galesburg> I guess I should ask - when do normal people start to show up?
[00:13:09] <skkwrk_galesburg> :)
[00:13:22] <cradek> lately about 11
[00:13:24] <SWPadnos> I'm not sure that there are any normal people here
[00:13:33] <cradek> oh I thought you were being sarcastic, sorry
[00:13:38] <cradek> I think a lot of things start at 8
[00:13:52] <skkwrk_galesburg> I was being a little sarcastic :)
[00:17:17] <skkwrk_galesburg> Any updates - mazak moving? edm g50/51?
[00:17:30] <jmkasunich> 50/51 is done
[00:17:35] <jmkasunich> mazak moved last night
[00:17:41] <jmkasunich> (x,y,z, spindle)
[00:17:48] <jmkasunich> toolchanger is in progress
[00:18:14] <skkwrk_galesburg> nice - good job - If you guys are still working on it - I would love a little peak at how it is setup.
[06:22:52] <alex_joni> cradek: what's that?
[06:31:59] <alex_joni> hi guys.. see you're still commiting
[06:32:10] <alex_joni> any idea what cradek wanted me to look at?
[06:38:43] <SWPadnos> nope
[06:39:03] <alex_joni> probably halui, I see he added jogwheel support
[06:39:14] <SWPadnos> ah - could be
[06:39:29] <SWPadnos> it's a bit jerky, probably due to the cycle time being fairly long
[06:40:00] <alex_joni> right
[06:40:16] <alex_joni> maybe we'll need a RT component for that
[06:40:24] <SWPadnos> I'd think so
[06:40:35] <alex_joni> right into the motion controller
[06:40:37] <SWPadnos> it's all motion
[06:40:39] <SWPadnos> yep
[06:40:52] <alex_joni> and use it for portals too
[06:41:04] <SWPadnos> portals?
[06:41:11] <alex_joni> XX Y Z
[06:41:17] <alex_joni> master-slave axes
[06:41:21] <SWPadnos> ok - tandem axes
[06:41:45] <SWPadnos> those should be doable already - just hook multiple PIDs to the same command position
[06:41:57] <SWPadnos> and to separate motors, of course ;)
[06:42:12] <alex_joni> yeah, but ideally you'd slave one axis to the feedback of the other
[06:42:35] <SWPadnos> possibly, though you want to have feedback on both, I'd think
[06:42:50] <alex_joni> I'd want the sum of the ferrors < ferror
[06:42:53] <alex_joni> right
[06:43:27] <SWPadnos> actually, I think you'd want to do some geometric mean or something
[06:43:42] <SWPadnos> if they're both "high", then the axis is deifnitely high
[06:43:46] <SWPadnos> (overall)
[06:44:04] <SWPadnos> one high and one low, position isn't as bad, but the gantry is probably about to break ;)
[06:44:21] <alex_joni> yeah
[06:44:27] <SWPadnos> I guess if the differential is > something, you'd want to ferror
[06:44:46] <alex_joni> right.. that's what I really meant
[06:45:01] <alex_joni> motion.pos -> first axis -> secon axis -> motion.feedback
[06:45:27] <SWPadnos> you still want to know if they're both off, but in sync
[06:45:34] <SWPadnos> so you do need both
[06:45:37] <alex_joni> right
[06:45:46] <SWPadnos> I'm not exactly sure how to combine them right now
[06:45:57] <SWPadnos> hmmm - maybe I should go to bed :)
[06:46:50] <alex_joni> pro'aly
[06:47:06] <SWPadnos> maybe I'll get to the hotel by 2:00 ;)
[06:47:11] <SWPadnos> if I leave now
[12:22:53] <alex_joni> jepler: morning.. already up?
[12:38:07] <skkwrk_galesburg> morning alex
[12:38:47] <alex_joni> hi skkwrk_galesburg
[12:48:05] <skkwrk_galesburg> heh - I just got spam from aplast@export2u.ro <aplast@export2u.ro>
[12:48:23] <skkwrk_galesburg> Ref.: Romanian PVC Doors & Windows Production & Export
[12:48:30] <skkwrk_galesburg> :)
[12:51:48] <alex_joni> spamcop them ;)
[14:10:49] <jepler> alex_joni: no, I slept in this morning
[14:10:55] <jepler> now I'm awake
[14:11:58] <alex_joni> jepler: morning ;)
[14:12:05] <alex_joni> I eventually figured it out
[14:12:18] <alex_joni> didn't see the obvious in front of my eyes
[14:13:46] <alex_joni> jepler: but I want to ask you about a design problem I'm facing.. but it can wait
[14:14:00] <alex_joni> going to the opera in 20 minutes, so I guess that afterwords is better ;)
[14:16:51] <jepler> yes
[14:17:05] <alex_joni> probably in a few hours
[14:17:07] <jepler> enjoy the opera
[14:17:14] <alex_joni> thanks.. I think I will ;)
[19:16:43] <alex_joni> hi all
[19:16:52] <cradek> hi alex
[19:16:55] <alex_joni> hi chris
[19:17:00] <alex_joni> how is everything?
[19:17:22] <cradek> just fine, more activity here today than before
[19:17:39] <alex_joni> that's good to hear
[19:17:45] <alex_joni> * alex_joni just got home
[19:21:59] <alex_joni> nice opera again ;)
[20:10:55] <cradek> alex_joni: do you feel like working on something? we've got a tiny problem with homing
[20:13:54] <alex_joni> sure, why not
[20:13:58] <alex_joni> what's wrong?
[20:15:04] <cradek> jon E is trying to home his bp on the limit switch
[20:15:08] <cradek> it does home correctly
[20:15:17] <cradek> but task issues a "I hit the limit switch" error to the gui
[20:15:31] <alex_joni> oh, I see
[20:15:42] <cradek> john K says the motion controller monitors the limit switches in realtime so the monitoring in task is redundant anyway
[20:15:46] <alex_joni> even if limit override is on?
[20:15:58] <alex_joni> ok, so you want me to rip it out?
[20:15:59] <cradek> I don't know about that one
[20:16:09] <alex_joni> from task I mean
[20:16:22] <cradek> not really, I want you to figure out if ripping it out is the right thing to do, and rip it out if so!
[20:16:29] <alex_joni> not all support (messages and so), but the testing
[20:16:37] <alex_joni> ok, I'll look at it..
[20:16:50] <alex_joni> although I only looked briefly at this part
[20:16:51] <cradek> I think we're both a bit nervous about it but we think you know your way around in task better
[20:17:22] <cradek> the sim servo config has simulated hard limit switches, so you can test it with that to see the behavior
[20:17:43] <cradek> (after reconfiguring it a bit)
[20:17:57] <cradek> (jmk says it has separate emulated home switches right now)
[20:18:06] <alex_joni> separate?
[20:18:18] <cradek> yeah it has limit and home switches, you want just limits
[20:18:23] <jmkasunich> it has limit "switches" that trip at for example 10.0
[20:18:28] <alex_joni> right
[20:18:32] <jmkasunich> and a home "switch" that trips at 9.5
[20:18:41] <alex_joni> I'll disable the home switch
[20:18:59] <jmkasunich> people without home switches would wire the limit switch to two pins on the motion controller, the limit pin and the home pin
[20:19:06] <alex_joni> right
[20:19:13] <jmkasunich> and then they set HOME_IGNORE_LIMIT in the ini for that axis
[20:19:14] <alex_joni> I'll make themboth 10.0
[20:19:24] <jmkasunich> that works
[20:19:36] <jmkasunich> I think they use ini file references, so check in the ini first
[20:19:44] <alex_joni> already seen that ;)
[20:19:49] <alex_joni> read through the hal file
[20:19:55] <jmkasunich> ok
[20:21:55] <alex_joni> heh, I get 3 messages :D
[20:21:58] <alex_joni> not just one ;)
[20:47:55] <alex_joni> jmkasunich: did a bit of testing, and simply removing the tests (the Hardware tests), does the trick
[20:48:14] <jmkasunich> cool
[20:48:15] <alex_joni> I could still trip the hardware switches (while not homed), and get a proper error message
[20:48:25] <jmkasunich> yeah, you get it from the motion controller
[20:48:41] <alex_joni> and while homed, the software limits prevented me from getting there
[20:48:49] <jmkasunich> right
[20:48:53] <alex_joni> although g0x9.999999 seems to overtrick it ;)
[20:48:59] <alex_joni> and it goes to 10.0
[20:49:10] <alex_joni> and doesn't complain :) (probably a rounding error)
[20:49:15] <jmkasunich> so don't do that ;-)
[20:49:25] <alex_joni> * alex_joni hides & burns the logs
[20:49:45] <alex_joni> jon_e should be happy with his homing now
[20:50:18] <alex_joni> I also noticed that 10(SW) and 10.2 (HW) are too close together
[20:50:38] <alex_joni> everytime I wanted to trip the software limit, it tripped the HW one instead
[20:50:52] <alex_joni> but 10 & 11.2 work great together
[20:51:36] <alex_joni> jmkasunich: I hear the mazak is showing his tool position ;)
[20:51:49] <jmkasunich> yes
[20:51:55] <alex_joni> that's great work
[20:51:58] <jmkasunich> on a halmeter anyway...
[20:52:03] <alex_joni> good enough..
[20:52:08] <jmkasunich> next step is to make it move to the commanded tool
[20:52:09] <alex_joni> just link it to iocontrol next ;)
[20:52:52] <alex_joni> oh, only validation that tool has been prepared goes to iocontrol input ;)
[20:54:01] <jmkasunich> we need something to compare the desired tool to the current tool and decide which way to rotate the tool magazine
[20:54:14] <jmkasunich> I think SWPadnos is working on that now
[20:54:25] <alex_joni> I think he added a weighing adder
[20:57:55] <jmkasunich> yes, thats what is used to translate the 5 bit code from the proximity switches into a tool number
[20:57:57] <jmkasunich> works great
[20:58:05] <alex_joni> nice
[20:58:23] <alex_joni> well, I'm around.. say if you want me to look at anything else ;)
[21:02:48] <alex_joni> jmkasunich: do you plan on adding a halui panel?
[21:02:54] <alex_joni> I mean to the mazak
[21:09:23] <alex_joni> oh-oh, cradek is catching up on the commit number on emc ;)
[21:12:28] <SWPadnos> almost done with the direction finder - just added a non-wraparound mode to it
[21:12:50] <alex_joni> SWPadnos: if you need help hooking it up to iocontrol.. holler
[21:13:52] <SWPadnos> heh - help hooking it up. gimme a break ;)
[21:14:17] <SWPadnos> * SWPadnos is leaving that to others ;)
[21:14:23] <alex_joni> lol
[21:14:34] <alex_joni> I heared you are in charge of that :P
[21:14:55] <alex_joni> they say..
[21:15:37] <SWPadnos> uh-oh - nobody told me
[21:16:05] <SWPadnos> I'm hidden behind my 24" LCDs so they can't find me when the work comes along
[21:20:50] <alex_joni> lol