#emc-devel | Logs for 2009-08-14

[02:11:16] <steves_logging> steves_logging is now known as steve_stallings
[03:14:54] <steve_stallings> steve_stallings is now known as steves_logging
[06:23:04] <CIA-41> EMC: 03micges 07task_cleanup * r69e7412e80fe 10/src/emc/task/emctaskmain.cc: Use correct constant.. (thanks cradek)
[08:02:43] <micges_work> alex_joni: around?
[08:03:37] <alex_joni> yup
[08:03:43] <alex_joni> with a bit of time to spare ;)
[08:04:23] <micges_work> cool
[08:05:36] <alex_joni> what's up?
[08:05:48] <micges_work> shortly I have machine with XYV configuration, and the best would be to have two cone in the preview.. is it possible?
[08:06:00] <micges_work> one cone to XY and second to XV
[08:06:13] <alex_joni> * alex_joni has no idea ;)
[08:06:29] <alex_joni> but probably not without hacking AXIS quite much
[08:07:38] <micges_work> so I must ask jepler :)
[08:08:39] <alex_joni> yup
[08:09:19] <alex_joni> it would be 'cool' to be able to define to what position the cone gets connected to
[08:09:40] <alex_joni> but I imagine it's only usefull for a handfull of cases
[08:10:27] <micges_work> alex_joni: I'll make photos :)
[08:10:35] <alex_joni> heh
[08:12:38] <micges_work> alex_joni: one thing, I would like you to see ja3 progress and make some comments or direction for me, it would be very helpfull
[08:13:06] <alex_joni> I did read the diff's
[08:13:16] <alex_joni> but not that close ;)
[08:13:31] <alex_joni> the one thing that was missing when I last worked on ja2 was working on jogging
[08:14:07] <micges_work> teleop didn't exist in ja3
[08:14:11] <alex_joni> right
[08:14:15] <alex_joni> I took it out
[08:14:42] <alex_joni> I don't think we need to have different jogging commands for world/joint mode
[08:15:00] <alex_joni> basicly I think 2 jogging modes are needed: continuous and step based
[08:15:06] <alex_joni> you select joint or axis
[08:15:16] <alex_joni> then jog an increment, or with a certain velocity
[08:15:41] <alex_joni> the part that gets more complicated is doing the same thing in the motion controller
[08:15:42] <micges_work> I understand
[08:15:52] <alex_joni> allow jogwheels (both for joints and axes)
[08:17:52] <micges_work> in axis position limits should be draw from axes or joints limits? or both based of mode?
[08:19:33] <micges_work> and I don't fully understand homing in a non trivkins
[08:20:32] <micges_work> when I home joints in a example (XYZBC) how should I interface it to axes?
[08:21:05] <alex_joni> ideally the position limits should be drawn from joints
[08:21:28] <alex_joni> but on a nontrivkins machine, the joint limits result in non-rectangular space
[08:21:30] <alex_joni> not sure how you can display it
[08:21:50] <alex_joni> maybe (for now) we can define a carthesian workspace inside the machine workspace
[08:21:53] <alex_joni> and display that
[08:22:14] <alex_joni> have TRAJ limits (x0,y0,z0 .. x1, y1, z1)
[08:23:58] <micges_work> ok I see, and homing?
[08:24:08] <alex_joni> you need to home joints first
[08:24:14] <alex_joni> then you should be able to switch to world
[08:27:05] <alex_joni> there is a [TRAJ] HOME which currently isn't used
[08:27:34] <micges_work> and then all axes are homed and homing world position should be set to each axis? or user should homed axes again?
[08:27:53] <alex_joni> you shouldn't be able to home in world mdoe
[08:27:54] <alex_joni> mode
[08:28:00] <alex_joni> you only home joints
[08:28:17] <alex_joni> once all joints are homed, you can set the world position to the [TRAJ]HOME position
[08:28:32] <micges_work> so no homed indicator on world mode ?
[08:31:10] <micges_work> alex_joni: thank you very much for infos
[08:31:12] <micges_work> bbl
[08:44:56] <alex_joni> micges_work: you need to be homed to get to world mode
[08:45:35] <micges_work> ok
[08:49:37] <alex_joni> there shouldn't be any case where you are in world mode, but are not homed
[08:49:49] <alex_joni> * alex_joni is talking about machines with KINEMATICS_BOTH
[08:51:07] <micges_work> yes I understand it too
[08:52:09] <micges_work> so mdi should locked too?
[08:53:52] <micges_work> or coord mode isn't related
[08:54:00] <alex_joni> ideally it should allow only joint moves :D
[08:54:16] <alex_joni> you can't move in carthesian coordinates until you're homed
[08:56:19] <micges_work> yep
[11:29:29] <BigJohnT> BigJohnT is now known as MediumJohnT
[11:54:18] <alex_joni> hi MediumJohnT
[11:54:53] <MediumJohnT> hi alex_joni
[11:55:29] <MediumJohnT> getting any sleep yet?
[12:03:54] <alex_joni> sure..
[12:03:59] <alex_joni> "any" is easy to beat
[12:04:17] <MediumJohnT> LOL
[12:04:28] <alex_joni> "enough" is a different matter ;)
[12:06:11] <MediumJohnT> break fast time here
[12:06:44] <alex_joni> enjoy
[12:45:58] <micges_work> alex_joni: http://imagebin.ca/view/F2ctYO.html
[12:57:13] <alex_joni> micges_work: heh ;)
[13:19:15] <micges_work> it works very cool: http://imagebin.ca/view/OLwTki.html
[13:19:17] <micges_work> bbl
[13:34:39] <skunkworks_> multible spindles/heads?
[13:43:30] <alex_joni> looks like it
[13:43:43] <alex_joni> * alex_joni got forward kins figured out
[13:50:00] <skunkworks_> Great!
[13:52:05] <skunkworks_> is this for the 'generic' robot arm kins? or specific to your robot?
[14:32:47] <alex_joni> skunkworks_: it's using genserkins
[14:32:51] <alex_joni> but specific to my robot
[14:33:17] <alex_joni> genserkins = generic serial kinematics ;)
[14:35:47] <skunkworks_> cool
[14:36:14] <skunkworks_> any pictures of it drawing a box in world mode? :)
[14:36:28] <skunkworks_> world mode?
[14:37:03] <skunkworks_> Cartesian
[14:55:37] <alex_joni> nope, you need inverse kins for that ;)
[14:55:45] <alex_joni> and those are only partly working
[14:56:38] <skunkworks_> he
[14:56:40] <skunkworks_> heh
[14:56:42] <skunkworks_> :)
[19:46:16] <christel> [Global Notice] Hi all, one of our servers are having some issues with overheating -- affected users approximately 3,000. Apologies for the inconvenience.
[20:30:03] <SWPadnos_> SWPadnos_ is now known as SWPadnos