2011/7/26 Andrew <[email protected]>: > 2011/7/26 Dave <[email protected]>: >> >> My question is: What would be the best way to implement this two "X" >> axis control scheme with EMC2? > > I'd suggest a custom kinematics file, probably based on gantrykins. > With HAL pin connected to hardware switch choosing between tables. >
I see 3 theoretical solutions: 1) You have a g-code filter, which substitutes X with U for the parts to be produced on second table 2) You can write custom HAL component with 4 inputs and 4 outputs and 1 selector pin, so that You can take these pins: axis.m-pos-cmd axis.m-pos-fb axis.n-pos-cmd axis.n-pos-fb and link them to these pins: motor.m-pos-cmd motor.m-pos-fb motor.n-pos-cmd motor.n-pos-fb in a following way: If selector is "false", then axis.m-pos-cmd <-> motor.m-pos-cmd axis.m-pos-fb <-> motor.m-pos-fb axis.n-pos-cmd <-> motor.n-pos-cmd axis.n-pos-fb <-> motor.n-pos-fb If selector is "true", then axis.m-pos-cmd <-> motor.n-pos-cmd axis.m-pos-fb <-> motor.n-pos-fb axis.n-pos-cmd <-> motor.m-pos-cmd axis.n-pos-fb <-> motor.m-pos-fb Obviously, You can switch them _only_, when corresponding pins of m and n are equal. That is, X and U positions have to be the same. 3) My favorite option would be the one already suggested by Andrew - custom kinematics module. I was thinking that also this solution would require putting both tables in equal positions, but then I realised that this is the place, where it can be hacked. I just did not yet come up with a solution. I just would like to oppose Andrew's opinion about using gantrykins as the place to start - I do not think so, because gantrykins is generalised for any kind of "2 joints on a single axis" combinations and thus it actually is pretty complicated. I think that You should start simply with trivkins and do 2 things: a) add a HAL pin b) in forward and inverse kins add the "if the HAL pin is true or false" conditions and how tran->pos.x and pos->u are related to joint[m] and joint[n] I think that both last options are of equal level of difficulty, IMHO not very hard. In any of the cases You can drive the selector pin with M64 command from g-code so that operator just needs to change the parts, but machine does all the production in non-stop. Viesturs ------------------------------------------------------------------------------ Magic Quadrant for Content-Aware Data Loss Prevention Research study explores the data loss prevention market. Includes in-depth analysis on the changes within the DLP market, and the criteria used to evaluate the strengths and weaknesses of these DLP solutions. http://www.accelacomm.com/jaw/sfnl/114/51385063/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
