Hi! I have tried running the auto PID module - at_pid
However after work the joints seem to continually bounce and wobble 1 or two degrees with the resulting settings from setp pid.j0.tune-effort 0.1 setp pid.j0.tune-mode 1 setp pid.j0.tune-type 0 setp pid.j0.tune-start 1 https://github.com/djsftree/linuxcnc_meca500/tree/main/linuxcnc/configs/min-meca500 Is there anyone available to briefly review my ini file ? Best regards, David Smith -----Original Message----- From: David (J) Smith <d...@fathomtreeltd.com> Sent: 29 July 2022 16:27 To: emc-developers@lists.sourceforge.net Subject: [Emc-developers] custom homing comp for meca500 ethercat robot Hi! I’m working on an internal project involving the Mecademic Meca500 6 axis robot https://www.mecademic.com/en/meca500-robot-arm Is there anyone on the mailing list that is available for linuxcnc development / contract work? Here’s some useful links so far Cyclic data that can be sent to the robot https://cdn.mecademic.com/uploads/docs/meca500-r3-programming-manual-8-4.pdf#subsection.3.4 Cyclic data received from the robot https://cdn.mecademic.com/uploads/docs/meca500-r3-programming-manual-8-4.pdf#subsection.3.5 Communicating over ethercat https://cdn.mecademic.com/uploads/docs/meca500-r3-programming-manual-8-4.pdf#section.4 ethercat XML file https://github.com/djsftree/linuxcnc_meca500/blob/main/linuxcnc/configs/meca500/meca500-ethercat.xml custom homing comp skeleton https://github.com/djsftree/linuxcnc_meca500/blob/main/linuxcnc/configs/meca500/meca500_homing.comp I would welcome a review of the initial skeleton code and any suggestions to the potential homing architecture. The robot has its own internal mechanism for homing once the robot is activated. -- set ctrl.activate 1 ctrl.deactivate 0 -- wait for status.activated 1 status.busy 0 -- set ctrl.home 1 j0, j1, j2 rotate 3.6deg j3, j4 rotate 7.2deg j5 rotates 12deg this procedures takes 3 seconds to complete joint position during homing is available on ethercat encoder.a1 thru a6 -- wait for status.homed 1 status.busy 0 -- homed and ready to accept motion commands Best regards, David Smith _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
