Another amazing sewing application . Robot sews car seats cover <https://www.youtube.com/watch?v=2Qwqxpcr2zA>
On Sun, Sep 7, 2014 at 11:20 AM, alex chiosso <[email protected]> wrote: > Hi to all. > Just to show an amazing sewing technology . > Robot Sewing Machine <https://www.youtube.com/watch?v=_i4cfQGe8fY> > I do believe that in this case a synchronicity between robot axis and > needle position is needed. > > Regards > > Alex > > > On Fri, Aug 29, 2014 at 6:04 PM, alex chiosso <[email protected]> wrote: > >> Hi Gregg. >> Yes this device should be fast enough. >> The problem is how to integrate it with the current machanic structure. >> You have to consider also that the operator need the right space where to >> lay the fabric (i.e. the jacket). >> >> Regards >> >> Alex >> >> >> On Fri, Aug 29, 2014 at 5:29 PM, alex chiosso <[email protected]> wrote: >> >>> Hio Philipp , >>> you got it! >>> The exact lenght for each stitch is a must. >>> So the example of G code that you kindly gave me is what should be done >>> (I mean it is a starting point) . >>> Actually (I was this morning to the sewing machine customer) with the >>> intergration I did the result is good enough for what they have to do (an >>> Hybrid solution PLC+Position controller single axis modules) . >>> But because of a stitch by stitch X-Y axis movement and the speed as >>> fast as possible the machine has some vibrations that the customer would be >>> happy to reduce as much as possible. >>> The integration I made as some limitatons related to the way the fabric >>> is moved under the needle between a stitch and the following one . >>> Secondary only linear stitches are possible because no interpolation is >>> possible due to the hardware/software used. >>> So I do believe that a solution with LCNC can make a smoothest movement >>> of the machine , the possibility to do different kinds of stitches and a >>> more flexible pattern design . >>> At the moment the customer told me that this machine is quite "unique" >>> because is able to apply labels on dresses that are already fabricated >>> (finished ready for the delivery) . >>> That is why the label sewing must be done without error on the axes >>> movements that can damage the needle and consequently the tissue. >>> The dresses are high end quality (and costly) Italian made . (I'm >>> Italian .... that's why my english writing style is so poor!) >>> Other machines can only apply labels on semifinish parts of the dresses >>> and the potential risk is less important . >>> I saw a similar G code on a Mach3 forum somewhere on the net but I >>> didn't see any final result onestly . >>> That's amazing to see that many people are trying to apply a CNC to do >>> sewing/embroidery/quilting machine conversion. >>> For sure for complex pattern design a sort of cad/cam is needed. >>> I was wondering if a programming style with iterative sequences (one >>> iteration one stich) can help for not complicated pattern. >>> In any case thank you for any idea/thought you are sharing. >>> >>> Regards >>> >>> Alex >>> >>> >>> >>> >>> On Thu, Aug 28, 2014 at 10:14 PM, Philipp Burch <[email protected]> wrote: >>> >>>> Hi Alex! >>>> >>>> On 27.08.2014 22:04, alex chiosso wrote: >>>> > Hi Philipp. >>>> > Thank you so much for the very detailed informations . >>>> > You are considering to move the needle as a spindle with the S >>>> parameter to >>>> > define the rpm and the >>>> >>>> Exactly. >>>> >>>> > Z axis position how is it derived from ? How is it calculated ? I >>>> mean on >>>> > the real machine . >>>> >>>> This is what the siggen component in the example HAL file is used for. >>>> The spindle speed (i.e. stitches per second) is fed to its frequency >>>> input as well as the desired amplitude (the full Z travel of the >>>> needle). The component then generates a free running sine wave (among >>>> other waveforms) of the requested frequency. You would then use this >>>> wave as the position setpoint for the Z axis motor controller. No need >>>> to calculate anything else ;) >>>> >>>> Somewhat later, you told us that it is required that the X/Y movement >>>> always needs to completely finish before making the next stitch for a >>>> constant stitch length. If you use the approach described before, you >>>> won't have the ultimate control, so depending on your hardware, you >>>> could really end up with stitches that are of slightly different >>>> lengths. If this actually is a problem, you might be better off using >>>> the Z axis as usual and describing every single stitch in your NC >>>> program like so: >>>> >>>> G21 (Millimeters) >>>> G64 P1 Q1 (Path tolerance 2mm) >>>> G0 Z5 (Safe needle height) >>>> G0 X10 Y10 (Position of first stitch) >>>> F5000 (Feed rate for all subsequent moves) >>>> G1 Z-5 (Enter fabric, which is at Z = 0) >>>> G1 Z1 (Exit fabric) >>>> G1 X12 Y10 Z5 (Move to midpoint to next stitch) >>>> G1 X14 Y10 Z1 (Move to next stitch) >>>> G1 Z-5 (Enter fabric) >>>> G1 Z1 (Exit fabric) >>>> G1 X16 Y10 Z5 (Move to midpoint to next stitch) >>>> G1 X18 Y10 Z1 (Move to next stitch) >>>> G1 Z-5 (Enter fabric) >>>> G1 Z1 (Exit fabric) >>>> ;... >>>> G0 Z5 (Safe needle height) >>>> G0 X0 Y0 (Move to park position) >>>> M2 >>>> >>>> As you can see with all those G1s, the program gets much more >>>> complicated and veeery inconvenient to write by hand. So you'd most >>>> likely want to use a CAM (or just a python script), which generates this >>>> structure. >>>> >>>> The setting of the path tolerance is required to get a reasonable speed. >>>> The programmed path contains vertical segments for entering and exiting >>>> the fabric and a triangular curve from one stitch to the next. If the >>>> needle would need to follow this path exactly, the whole thing would be >>>> slow like hell of course, so we give the trajectory planner some >>>> tolerance by which the actual path may differ from the programmed path. >>>> What then happens is that the actual path has arcs instead of sharp >>>> edges, which helps to keep the speed up. Please see the attached >>>> screenshot. The white line is the programmed path, the red one is the >>>> backplot of the simulated machine movement. >>>> >>>> I hope this helps. >>>> >>>> Cheers, >>>> Philipp >>>> >>>> > On Wed, Aug 27, 2014 at 9:34 PM, Philipp Burch <[email protected]> >>>> wrote: >>>> > >>>> >> Hi Alex! >>>> >> >>>> >> On 27.08.2014 21:13, alex chiosso wrote: >>>> >>> Hi Andy. >>>> >>> You are always a good advisor . >>>> >>> I'm not so trained on LCNC as you are. >>>> >>> I never use the lincurve component so can you explain me what it is >>>> and >>>> >> how >>>> >>> it works ? >>>> >>> Also Philipp mention the adaptive pin but I didn't understand that >>>> he was >>>> >>> referring to the motion component of LCNC. >>>> >> >>>> >> The lincurve component performs interpolation using a function >>>> >> consisting of linear segments. So if your machine may move while the >>>> >> needle position is >3.0, then you could for example create an >>>> >> interpolation function with two segments: >>>> >> >>>> >> For Z = 3.0 .. 7.0, ramp up the feed linearly from 0 to F-max >>>> >> For Z = 7.0 .. MAX, keep the feed at F-max >>>> >> >>>> >> By adding additional segments, you could then control the feed more >>>> >> smoothly during the movement of the needle. >>>> >> >>>> >> The adaptive feed is an input of the motion component, which can >>>> modify >>>> >> the feed rate in real time. In my example, I used feed-hold, which >>>> just >>>> >> forces the feed to 0, accounting only for the acceleration limits of >>>> the >>>> >> machine. By using adaptive feed, you can insert a custom ramp (or >>>> >> whatever the curve's shape should be). So it would also be possible >>>> to >>>> >> use a cosine curve for the feed or something like this instead of a >>>> >> trapezoidal one like in the example. It might be worth some >>>> >> consideration if you need to limit jerk, as this could easily become >>>> a >>>> >> problem on such a machine. >>>> >> >>>> >> Regards, >>>> >> Philipp >>>> >> >>>> >>> >>>> >>> >>>> >>> On Wed, Aug 27, 2014 at 9:00 PM, andy pugh <[email protected]> >>>> wrote: >>>> >>> >>>> >>>> On 27 August 2014 16:21, alex chiosso <[email protected]> wrote: >>>> >>>>> I would like to discuss with you what do you think about the >>>> conversion >>>> >>>> to >>>> >>>>> LCNC. >>>> >>>> >>>> >>>> One very easy way (maybe too easy) would be to pass needle height >>>> >>>> through a lincurve component (I use that for nearly everything, >>>> >>>> because we use them for nearly everything in the day job) and then >>>> use >>>> >>>> the output to drive the motion.adaptive-feed pin. You can then >>>> define >>>> >>>> zones where movement is possible and have a gentle decel up to >>>> those >>>> >>>> zones defined in the curve shape. >>>> >>>> >>>> >>>> -- >>>> >>>> atp >>>> >>>> If you can't fix it, you don't own it. >>>> >>>> http://www.ifixit.com/Manifesto >>>> >>>> >>>> >>>> >>>> >>>> >>>> >> >>>> ------------------------------------------------------------------------------ >>>> >>>> Slashdot TV. >>>> >>>> Video for Nerds. Stuff that matters. >>>> >>>> http://tv.slashdot.org/ >>>> >>>> _______________________________________________ >>>> >>>> Emc-users mailing list >>>> >>>> [email protected] >>>> >>>> https://lists.sourceforge.net/lists/listinfo/emc-users >>>> >>>> >>>> >>> >>>> >> >>>> ------------------------------------------------------------------------------ >>>> >>> Slashdot TV. >>>> >>> Video for Nerds. Stuff that matters. >>>> >>> http://tv.slashdot.org/ >>>> >>> _______________________________________________ >>>> >>> Emc-users mailing list >>>> >>> [email protected] >>>> >>> https://lists.sourceforge.net/lists/listinfo/emc-users >>>> >>> >>>> >> >>>> >> >>>> >> >>>> >> >>>> ------------------------------------------------------------------------------ >>>> >> Slashdot TV. >>>> >> Video for Nerds. Stuff that matters. >>>> >> http://tv.slashdot.org/ >>>> >> _______________________________________________ >>>> >> Emc-users mailing list >>>> >> [email protected] >>>> >> https://lists.sourceforge.net/lists/listinfo/emc-users >>>> >> >>>> >> >>>> > >>>> ------------------------------------------------------------------------------ >>>> > Slashdot TV. >>>> > Video for Nerds. Stuff that matters. >>>> > http://tv.slashdot.org/ >>>> > _______________________________________________ >>>> > Emc-users mailing list >>>> > [email protected] >>>> > https://lists.sourceforge.net/lists/listinfo/emc-users >>>> > >>>> >>>> >>>> ------------------------------------------------------------------------------ >>>> Slashdot TV. >>>> Video for Nerds. Stuff that matters. >>>> http://tv.slashdot.org/ >>>> _______________________________________________ >>>> Emc-users mailing list >>>> [email protected] >>>> https://lists.sourceforge.net/lists/listinfo/emc-users >>>> >>>> >>> >> > ------------------------------------------------------------------------------ Slashdot TV. Video for Nerds. Stuff that matters. http://tv.slashdot.org/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
