Re: [Emc-developers] Remap problem: G70.0 can only be used in XZ plane

[Marius Alksnys]

2022-04-22 20:50, andy pugh rašė:

On Fri, 22 Apr 2022 at 16:32, Marius Alksnys  wrote:


What is going on here?


In 2.8 G70, G21 and G72 were unallocated and available for remap.

In 2.9 they are built-in cycles:

https://linuxcnc.org/docs/devel/html/gcode/g-code.html#gcode:g70



Thanks, Andy!

These tables should be updated then:
https://linuxcnc.org/docs/devel/html/remap/remap.html#remap:unallocated-g-codes



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[Emc-developers] Remap problem: G70.0 can only be used in XZ plane

[Marius Alksnys]

Hello everyone!
I am trying to create custom G70, G71, G72 routines with remap in 
LinuxCNC master / 2.9.


It was working in 2.8. Now I get such error from an interpreter when 
loading G-code with G70 present:

G70.0 can only be used in XZ plane (G18)

I have these lines in INI file:
REMAP=G70 modalgroup=1 argspec=w ngc=g70
REMAP=G71 modalgroup=1 argspec=xy> ngc=g71

What is going on here?



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[Emc-developers] EtherCAT modules help needed

[Marius Alksnys]

Could someone help me develop a lcec (LinuxCnc EtherCat) driver for two 
modules:
1. Beckhoff 1-channel SinCos encoder interface - EL5021 (1Vpp), ES5021 
(11uApp)

https://www.beckhoff.com/en-en/products/i-o/ethercat-terminals/el5xxx-position-measurement/el5021.html

2. NCT Dual encoder input and analog output + CAN interface module TTLAC2.
Current integration project needs analog outputs only.

https://www.nct.hu/pdf/NC_Documents/English/Install/TTLAC_measuring_system_modul.pdf

https://www.nct.hu/cnc_termekek_.php?cikkszam=40-00010379-10=ios=InIO=eng

?


I managed to get NCT MK15, EPU-SIS, I16 and O16 modules working by using 
generic driver and custom xml file.


While this method does not work for me with two modules mentioned above.
I imagine this would be easier for the guy(s) who developed other 
modules or with their help.

I mean these: https://github.com/sittner/linuxcnc-ethercat/tree/master/src

These are xml files from manufacturers: 
https://drive.google.com/drive/folders/1yKauechhYRGtSLuFyktUWv5CNUn8vdL9?usp=sharing



This is the OS image I used and I find it the easiest and the best 
compilation to get anyone started with LinuxCNC + EtherCAT:

https://sourceforge.net/projects/skynet-software/

taken from: 
https://forum.linuxcnc.org/18-computer/40328-debian-buster-10-linuxcnc-ethercat-iso-cd-download-1-7-gb


Note, that git one on the first post is older.



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[Emc-developers] Aborting program with message from python when using ; py,myfunction() in G-code

[Marius Alksnys]

I am implementing laser cutting with ink-jet part marking solution. Ink-jet 
printer/head is attached near the laser head. It accepts one text string to be 
printed via some serial data channel, then waits for start signal on a 
dedicated wire. I get acknowledgments for text received and text printed from 
the printer.

I decided to use ;py,mark_text("ABC 123") syntax in G-code. All python code is 
in toplevel.py or imported from there..
It works, but I don't know how to raise an error for the program to stop and give message 
to operator, like "Some printer communication time-out..".

If I use:
from emccanon import CANON_ERROR
CANON_ERROR("Do you see the printer? I can't find it!")

Then UI shows the error message, but program is not stopped.

Then if I write:
import linuxcnc
from emccanon import CANON_ERROR
c = linuxcnc.command()
CANON_ERROR("I'm lost, please help me!")
c.abort()

Program aborts, but no message appears.

I thought I could use:
from hal import set_p
from emccanon import CANON_ERROR
CANON_ERROR('Here, I found a pencil for ya! Might be broken, sorry..')
set_p("halui.program.stop", '1')

It is the same to my surprise - still no message.


-
Other questions related to this solution:
2. No way to pass string parameter from NGC? I found ;py,whatever('is the only 
solution').
3. How to make ;py blocking()? I use M6 Tn before ;py nonblocking() to make it 
work on time.
4. Idea: even HAL pins could accept strings...
5. How to program serial communication with receiver call-back or thread 
working in background, waiting for print confirmation, which would allow to 
send next string and continue motion without stopping for communication with 
printer.


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Re: [Emc-developers] Absolute homing with single-turn encoders.

[Marius Alksnys]

I would like to add from experience with industrial robots, what could 
be implemented in LinuxCNC and useful for more machines / cases.
The robots I met had electromechanical brakes  and either resolvers or 
single-turn-absolute-encoders on every joint.
The original control systems, as I understood, work by an algorithm:
--
Power on
read non-volatile memory
For each joint:
If joint was marked as calibrated then:
Read resolver angle
If difference between last_angle and new_angle is less than 
tolerance 
(a degree or less, I suppose), then mark joint as calibrated / 
referenced, calculate pos., etc.
Otherwise mark joint as not referenced / not calibrated.
If any of joints is not calibrated, inform user and ask for 
re-calibration (either each or all joints)
...
Release brakes
...

After brake engage
wait for relays and mechanical brake to work
For each joint:
wait for joints velocity to reduce to ~0
store is-calibrated flag
If joint or robot is calibrated / referenced, then store last_angle
--

This method relies on a very large probability that if a joint was moved 
while offline, it was not moved exactly one resolver / 
single-turn-encoder rotation (+/- small tolerance for backlash and 
readout accuracy). Furthermore, algorithm may add that if at least 1 
joint was moved, don't trust other joints, as this is logical for some 
machines, like industrial robot..


01/05/2017 01:16 AM, Rene Hopf rašė:
>
>> On 4 Jan 2017, at 19:07, Nicklas Karlsson  
>> wrote:
>>
>> As I understand it position is already known from absolute encoder so there 
>> is no need to run machine to a switch is hit?
>
> there are generally 2 types of abs encoders: multiturn and non multiturn.
> non multiturn encoders only give the absolute position to 0-360 deg, so one 
> shaft revolution.
> if you turn it 5 times, the encoder cant tell without power.
> multiturn encoders usually have a battery backup, and can count multiple 
> turns when powered off.
> with multiturn encoders its really easy, you just have a fixed offset to your 
> home position, and it just works.
> the idea is to use non multiturn encoders in a multitun way, so you just have 
> to remember on which rotation the servo is, but not where on that rotation.
> so when you assume your motors dont turn more than a full revolution while 
> the machine is powered off, you can just use the abs position, and full 
> revolutions to work out the exact position.
> of course this also works with resolvers.


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Re: [Emc-developers] Best way to create multilingual UI

[Marius Alksnys]

10/22/2016 01:13 PM, Niemand Sonst rašė:
>> >Ok, but how should I name the .mo file when using gladevcp?

> As far as I know, it must be named exactly as your class. In this case
> it should be the component name.
>
> As soon as you do embed the component, you might need to merge your file
> with the linuxcnc.mo file, but I am realy not sure on that one.
>
>
> Norbert

Still no luck and no clue how to go further. This is my very simple test 
setup:
http://www.robotise.lt/index.php?controller=attachment_attachment=6

read .sh files before running them


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Re: [Emc-developers] Best way to create multilingual UI

[Marius Alksnys]

> translation files go to /ust/share/locale/ letters>/LC_MESSAGES/
>
> If you are in rip_environment share/locale/ letters>/LC_MESSAGES/
>
> Regards Norbert

Ok, but how should I name the .mo file when using gladevcp?


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Re: [Emc-developers] Best way to create multilingual UI

[Marius Alksnys]

10/21/2016 04:25 PM, andy pugh rašė:
> I don't know enough to know if that is enough.

I don't know where to put translation files too. And how to debug such 
set of programs?


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Re: [Emc-developers] Best way to create multilingual UI

[Marius Alksnys]

10/20/2016 06:33 PM, andy pugh rašė:
> If you look in the glade XML file after setting strings to
> "Translatable" do you see them in the format _("this is a string") or
> are they still "this is a string" ?

I did not set Translatable property, it was on by default. This is a sample:


True
False
0
avarinis stabdis
True



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Re: [Emc-developers] Best way to create multilingual UI

[Marius Alksnys]

10/12/2016 03:32 PM, andy pugh wrote:
> On 12 October 2016 at 12:43, Marius Alksnys <mar...@robotise.lt> wrote:
>> I am surprised that LinuxCNC has more translations than it is declared.
>> There is Russian translation and docs miss that! I asked my Russian
>> friend, old LinuxCNC user (who reads Russian LinuxCNC forum a lot) if
>> LinuxCNC has Russian translation and he answered No!
>
> He is at least partially incorrect.
>
> If you look at Nick's Youtube videos ...

Yes, I agree. My point is that information about locales is missing in 
the main docs.

People like me (and other non-English speakers, probably) set OS locale 
to English because:
- there is no translation to their language
- or it is too bad to use (smaller number of users = not enough effort; 
English words are shorter usually; language core differences makes 
translations harder, etc.)
- English is preffered (it is more universal to get used to; good way to 
learn English and stay with it every day; it is far easier to search for 
strings on internet, based on English, etc.)
- it is not obvious / easy to turn other language on Linux everywhere
- English is preferred over partially translated system, where English 
texts pop out here and there; commands and reserved words are English too
- people do not know it is possible
- English or some locale settings make some software just work, or have 
issues while localised. For example, boxes in status bar of axis 
interface are too narrow.
- working with people of different languages
- ...

While only a specific program, like in this case, LinuxCNC + tools, can 
be specifically used by CNC operators, they might have other interface 
language needs than me, an integrator.

And, especially, these days (people are migrating or working remotely), 
different multiple languages for users looking at the screen is more and 
more actual.

I am using and installing Linux OS'es with English interface language 
(except some special efforts for non-EN friendly persons). Thus I don't 
even get to know about other language possibilities or quality, 
completeness of other translations.


> I think that, for a standalone UI, the instructions here should be sufficient:
> http://faq.pygtk.org/index.py?req=show=faq22.002.htp

> Oh, and where you say:
>> No surprise there is no Lithuanian translation :)
>
> You could create one with a few hours of typing.

I don't believe few hours would result in usable high quality 
translation. The reasons:
- high number of text strings
- no clues how to translate some words, which somehow matured and 
settled in English language. For example, word Offset. And I found it 
left untranslated in Russian LinuxCNC G-code documentation
- it is not clear where original phrase came from. Not knowing it might 
lead to wrong translation, different context may translate same word 
differently
- no fast way to translate and test / no WYSIWYG translation tool
- I would like to consult at least several people knowing the context 
about right / best translation of some phrases or words. Any good 
collaboration / sharing tools?

I tested Google Translator Toolkit and it messed up the file to 
unusable. It automatically translated a lot of "5:" and alike to long 
random phrases from internet. There where several other drawbacks too.


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Re: [Emc-developers] Best way to create multilingual UI

[Marius Alksnys]

> I think that, for a standalone UI, the instructions here should be sufficient:
> http://faq.pygtk.org/index.py?req=show=faq22.002.htp

I tried to translate my custom side panel for axis interface using 
instructions you linked me to.

I played with commands like these:
LC_ALL=C LANG=ru LANGUAGE=ru_RU

intltool-extract --type=gettext/glade arrow.glade
LANG=ru_RU msginit

xgettext -k -kN_ --from-code UTF-8 -o arrow_ui.pot arrow.glade.h
msginit -i arrow_ui.pot -l ru_RU
# translate .po file
poedit ru.po
mkdir -p locale/ru/LC_MESSAGES/
msgfmt ru.po -o locale/ru/LC_MESSAGES/arrow_ui.mo
LC_ALL=C LANG=ru LANGUAGE=ru_RU gladevcp_demo arrow.glade



But I don't know what to do with it next.
I am running linuxcnc with a command, for example:
LC_ALL=C LANG=ru LANGUAGE=ru_RU linuxcnc arrow.ini


> To integrate into the overall LinuxCNC ranslation scheme might be more
> difficult.

Is this the case?


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Re: [Emc-developers] Best way to create multilingual UI

[Marius Alksnys]

Possible answer to my own question:
https://translate.google.com/toolkit/

10/12/2016 02:43 PM, Marius Alksnys rašė:
> What is a good way to involve collaborators to the translation?


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Re: [Emc-developers] Best way to create multilingual UI

[Marius Alksnys]

Thank you EBo for your great answer.

I am surprised that LinuxCNC has more translations than it is declared. 
There is Russian translation and docs miss that! I asked my Russian 
friend, old LinuxCNC user (who reads Russian LinuxCNC forum a lot) if 
LinuxCNC has Russian translation and he answered No! This is a serious 
information gap.
Translation might be incomplete, but it can help greatly.

No surprise there is no Lithuanian translation :)

Valuable info. Good to start with.
I raised my question because I thought I can create at least my custom 
panel(s) multilingual, which might be enough. Those panels display and 
control things specific to that machine. I use GladeVCP embedded on the 
right side of Axis most often, but sometimes QtQuickVCP or PyVCP on 
Machinekit too.
Therefore, I would like to know which way is better for custom panels 
too. Going the long way for one and only machine might be uncomfortable..

I hope to find a way to edit and install the translation file without 
compiling whole linuxcnc.

What is a good way to involve collaborators to the translation?


10/12/2016 12:56 PM, EBo rašė:
> This is an excellent question, and I am sure there is plenty of people
> who will support this in various ways.  Now on to some technical issues,
> tools, and solutions.
>
> A fair bit of work has already been done on 'internationalization'
> (please see documentation and
> http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Internationalization for
> specifics and examples).  That said, I am sure that some of the UI's are
> missing any internationalization support.  One of the problems in the
> past is that the UI's were written in any one of a number of different
> tool chains -- including tcltk, gl, Qt, python binding, and I am not
> sure what all.  From the linuxcnc/src/po/README file I see that they
> give some specific examples, and how to.  There is current support for
> 14 different languages and 3 extra regional dialects or additional
> languages.  What I do not know is if the current tools and
> implementation can switch languages on the fly (ie by a pull down menu,
> and refresh in the new language).  It is possible that that
> functionality already exists, but no one has updated it, or (which is
> more likely) that the necessary low level functionality does not exist
> in the tools used.  I know that I tried to do exactly what you are
> suggesting back in 2001 using Qt -- they were just coming out with that
> support in their professional tools, but not in their free version, and
> I was developing open-source tools for ecologists at the university (ie
> not paid, and could not afford to pony up the $5K IIRC)...  So to help
> drill down into the question and how current implementations do not
> support your needs please take a look at the URL above, play with
> them a bit, and tell us where it is not working and what you would want
> to change.  Once we have that information we can have a discussion about
> if the request is something that anyone wants to take on and/or support.
>
> One thing that would help us is if you tell us which UI you would like
> to start with, and if you are looking to try to set it up on the fly or
> just support the additional languages.
>
> I like your idea of setting up a UI which is purely graphical.  There
> is places where that will breakdown, but it could go a long way.  For
> that look at the current UI's, like Axis, and tell use what you would
> change and why.
>
> Hope this helps,
>
> EBo --
>
> On Oct 12 2016 12:21 AM, Marius Alksnys wrote:
>> My integrated machines are used by different language speaking people
>> quite often. Some of them speak / understand one language only. Thus
>> there is a need to create UIs which could be understood by different
>> spoken users. Currently there is a need for up to three languages on
>> one UI.
>>
>>
>> What is the best way to create and maintain such UIs or panels for
>> LinuxCNC?
>>
>>
>> My ideas:
>> 1. Create UI without texts, just icons, numbers, other visual
>> components. This includes various messages - warnings, errors, etc.
>> Where to get suitable icons for that, how to adapt them, what
>> practices
>> to follow?
>> 2. Let the user to choose the language (s)he prefers, for example, a
>> group of radio buttons with flags / abbreviations and by using
>> GladeVCP
>> - create python script which changes labels and texts of controls at
>> runtime depending on which language (or flag) button is activated.
>> 3. Use HAL and connected mentioned radio button hal pins to every HAL
>> "label"... Don't know how to do this yet.
>> 4. Use some native GladeVCP locale methods and translation files (?).
>>
>> More id

[Emc-developers] Best way to create multilingual UI

[Marius Alksnys]

My integrated machines are used by different language speaking people 
quite often. Some of them speak / understand one language only. Thus 
there is a need to create UIs which could be understood by different 
spoken users. Currently there is a need for up to three languages on one UI.


What is the best way to create and maintain such UIs or panels for LinuxCNC?


My ideas:
1. Create UI without texts, just icons, numbers, other visual 
components. This includes various messages - warnings, errors, etc. 
Where to get suitable icons for that, how to adapt them, what practices 
to follow?
2. Let the user to choose the language (s)he prefers, for example, a 
group of radio buttons with flags / abbreviations and by using GladeVCP 
- create python script which changes labels and texts of controls at 
runtime depending on which language (or flag) button is activated.
3. Use HAL and connected mentioned radio button hal pins to every HAL 
"label"... Don't know how to do this yet.
4. Use some native GladeVCP locale methods and translation files (?).

More ideas and suggestions how to realise this?

How about the messages from NGC, from custom HAL components?


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[Emc-developers] Back tool lathe with Axis UI

[Marius Alksnys]

I followed instructions on
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?BackToolLathe
to make retrofitted emco 220 lathe move in more natural way. And it 
worked, except for the tool shape on screen. Axis shows tool shape 
originally, but draws a point instead of the tool when .axisrc is 
modified for back tool mode.

Sim Lathe configuration, LinuxCNC v. 2.7.6


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Re: [Emc-developers] HAL signal name aliases?

[Marius Alksnys]

Your subjects says it. Look at halcmd documentation, alias command.
Will it help?

04/30/2016 02:47 AM, Dmitry Yurtaev rašė:
> i'm trying to organize my configs and having trouble doing it
> conveniently. i'd like to localize external connections in one place
> and give signals meaningful names. e.g.
>
> net x-neg-limit sscii.0.gpio.0.in-not
> net x-pos-limit sscii.0.gpio.1.in-not
> net stop sscii.0.gpio.11.in-not
>
> and then use signal names for actual connection:
>
> net x-pos-limit => axis.0.pos-lim-sw-in
> net x-neg-limit => axis.0.neg-lim-sw-in
>
> if wiring changes, i can just edit the first net definition. BUT! i
> also have a pyvcp panel with LEDs  showing inputs status. and i can't
> just write in posgui.hal
>
> net led-in0 sscii.0.gpio.0.in-not => pyvcp-led0
>
> because sscii.0.gpio.0.in-not was already named x-neg-limit! so i'm
> forced to use x-neg-limit name here which ruins routing localization
> attempt...
>
> am i missing something? is there a way to make a connection without
> referring to a signal name which was given to it before?
>
> /dmtiry


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Re: [Emc-developers] jerk limited trajectory

[Marius Alksnys]

12/17/2015 05:40 PM, Viesturs Lācis rašė:
...
> IIRC it has not been implemented in LinuxCNC, because it would not
> work for spindle-synchronised moves, but I might be totally wrong on
> that :))
>
>
> Viesturs

I see jerk limitation as very nice and important feature to have.
And I would go with a workaround like disabling jerk limitation only 
when doing spindle-synchronised move (or whatever else rarely used type 
of move) to let it work for the mainstream.

BTW, limit4 would be great too :)


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Re: [Emc-developers] joints_axes8

[Marius Alksnys]

Curtis,

great plans! I have two questions though:
Question 1.
Is there anything better in TP than main branch in respect to 
simultaneous motion in multiple axes?

Now at least with trivial kins a motion with any from XYZ + any from ABC 
works in a manner to be able to stop ABC at the end of current or next G 
code line.

I raised it in earlier thread Rotary axis motion too slow. In that 
machine and its typical application G-code machining time reduced in 
times after I exchanged Y and A axes in LinuxCNC. (Normally linear Y is 
steady and rotary A is revolving fast with Z fast moves and slow X 
move). People who look at the machine now are amazed how fast it works 
:) But the workaround is not comfortable.

Question 2. Is trajectory motion velocity limited to joints capabilities 
in non-trivial kins?


On 07/23/2015 04:33 AM, Curtis Dutton wrote:
 I have rebased joints_axes7 onto master and renamed it to joints_axes8. I'm
 running it in production and wanted to pick up the latest changes in the
 trajectory planner. I also included a few other commits. It compiles on
 wheezy and all tests appear to pass.

 It's available here.

 https://github.com/curtdutt/linuxcnc

 My next major task will be to address non consecutive axis names defined
 for lathes.

 I would like to get these changes merged into master ASAP and i think that
 should happen before tackling  homing multiple joints on a single axis
 because linuxcnc currently doesnt do that at this time. So there wouldnt be
 a regression by merging.

 If anyone has any other things that they think should be fixed before it
 can go into master please let me know as I will try to address those issues
 as well.

 -Curtis
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Re: [Emc-developers] Rotary axis motion too slow

[Marius Alksnys]

On 07/15/2015 08:59 AM, Gene Heskett wrote:
 Trying to learn something here, I see the use of several of the ddt
 modules, which appear to be used for detecting the slope, or change
 velocity, its output.

:) No, these ddt and hypot are not needed here. They where used to trace 
velocity - just for testing, derived from TP testing config, which 
tracked max acceleration of each axis and had nice side panel:
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?NewTrajectoryControl

 OTOH, I haven't any experience with velocity driven servo's, and if I
 were to do a servo driven machine, I would automatically use position
 desired, and position feedback to achieve the desired result, a near
 vanishing position error.

 Where can I learn how a velocity servo achieves the positioning accuracy
 that allows it to do as good, or perhaps even better, working accuracy
 compared to a position servo?  Surely there is a tut on this?

Yes, having velocity and position loops increases trajectory following 
accuracy and eases PID tuning. If you have only torque or PWM mode servo 
amplifiers, then you can create velocity pid in LinuxCNC. It should 
track axis velocity (you can use encoder-velocity output or ddt here), 
directly control the amplifier and get command from position PID. 
Velocity PID might have only Igain non-zero.
This helps a lot in certain setups.

What I found:
http://www.anderswallin.net/2008/04/x-axis-test/
http://gnipsel.com/linuxcnc/tuning/servo.html
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Tuning_LinuxCNC/HAL_PID_Loops
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?PiD


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[Emc-developers] Rotary axis motion too slow

[Marius Alksnys]

I am integrating LinuxCNC to a machine with 4 axes. 
Rotary axis A jogs fast, but rotates slow when G code moves
 several axes at a time. Even when other axes moves are tiny.. It
 mills product in a helical pattern.

I tried a lot of things including inverse time feedrate mode and
 found the only thing which helps - increasing A axis acceleration
 to very big numbers.

Tried 2.6 and 2.7.

Any help how to solve this would be very appreciated.


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Re: [Emc-developers] Rotary axis motion too slow

[Marius Alksnys]

On 07/14/2015 11:25 PM, Sebastian Kuzminsky wrote: Do your observations 
violate the documented feed rate rules?
 
  
http://www.linuxcnc.org/docs/html/gcode/machining_center.html#sub:feed-rate

It might be not violating, actually I didn't analyze vel-cmd outputs in 
scope in detail.
Documentation does not clearly state how inverse time feedrate moves 
with mixed linear and rotary axes are handled.

Anyway, I have to find a better solution.
When current (or new) TP is so sophisticated (and cool) for three axes, 
maybe it could work for more?

Other ideas:
1. switch Y and A for LinuxCNC
2. use other than trivial kins
3. use joints-axes branch


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Re: [Emc-developers] Rotary axis motion too slow

[Marius Alksnys]

Sure, here they are:
http://robotech.lt/?p=56

On 07/14/2015 11:12 PM, Lisandro Massera wrote:
 Could you send the configuration files?


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[Emc-developers] UpdatingTo2.7 - is this line correct?

[Marius Alksnys]

At http://wiki.linuxcnc.org/cgi-bin/wiki.pl?UpdatingTo2.7

apt source lines for two different Debian Wheezy kernels and uses are 
the same. Shouldn't it be 2.7-rtpreempt ?

Debian Wheezy
i386  amd64
RT-Preempt
deb http://linuxcnc.org/ wheezy base 2.7-uspace
machine control


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Re: [Emc-developers] UpdatingTo2.7 - is this line correct?

[Marius Alksnys]

On 02/16/2015 05:47 AM, Sebastian Kuzminsky wrote:
 On 02/15/2015 07:32 AM, Marius Alksnys wrote:
 At http://wiki.linuxcnc.org/cgi-bin/wiki.pl?UpdatingTo2.7

 apt source lines for two different Debian Wheezy kernels and uses are
 the same. Shouldn't it be 2.7-rtpreempt ?

 Nope, the wiki page is correct.  Both the vanilla kernel and the
 rt-preempt kernel use the uspace flavor of linuxcnc.

 The uspace flavor runs entirely in userspace, which is where it gets its
 name.

 If you run the uspace flavor of linuxcnc on an rt-preempt kernel, you
 get reasonable realtime performance.  In userspace!  Awesome!

I am not sure how to understand the kernel version. uname -a results:
3.4-9-rtai-686-pae #1 SMP PREEMPT Debian 3.4.55-4linuxcnc i686 GNU/Linux

You can look at the latency test histogram results I got, look at base 
2.7-uspace near the end:
http://robotech.lt/?p=21



 If you run the uspace flavor of linuxcnc on a vanilla (non-rt-preempt)
 kernel, you get crappy realtime performance, and it behaves like the old
 simulator flavor.


 And by the way, there's a new  better place for the Updating to 2.7
 documentation, here:

 http://linuxcnc.org/docs/2.7/html/getting-started

 See specifically the Getting LinuxCNC and Updating LinuxCNC sections.

 I'll update the wiki to point there, hold on...  Ok done!

New documentation and image - this is great!



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Re: [Emc-developers] UpdatingTo2.7 - is this line correct?

[Marius Alksnys]

On 02/15/2015 05:39 PM, Viesturs Lācis wrote:
 AFAIK 2.7.0 is not yet released, I just checked my mailbox and did not
 find any message about it, linuxcnc.org first page also says about
 2.6. releases. Have I missed something?

 Viesturs

It is pre-release version. But I installed it on several working 
machines already because of the new trajectory planner and machines are 
still ok :)



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[Emc-developers] G-code parameters 5420-5428 - mistake in documentation

[Marius Alksnys]

G-code parameters 5420-5428 are relative, not machine coordinates. There 
is an error in docs 
http://www.linuxcnc.org/docs/html/gcode/overview.html#sub:system-parameters
#_x - Return current machine X coordinate. Same as #5420.

While in 
http://www.linuxcnc.org/docs/html/gcode/overview.html#_numbered_parameters_a_id_sub_numbered_parameters_a
it is right:
5420-5428
Current relative position in the active coordinate system including all 
offsets and in the current program units for X, Y, Z, A, B, C, U, V  W, 
volatile.


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Re: [Emc-developers] MDI action and mdi_mode

[Marius Alksnys]

On 07/21/2014 11:59 AM, Viesturs Lācis wrote:
 You always have a workaround to redefine, when those
 particular buttons are active or not.

If you are talking about HAL_panels:
this is not about them - there are no HAL panels in this custom UI VCP. 
It is about buttons, which are disabled when MDI is not available, for 
example, when machine is off, not homed..

They get enabled after homing, then after any MDI command they get 
disabled and MDI tab activates.
I don't know a workaround for this yet.


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Re: [Emc-developers] MDI action and mdi_mode

[Marius Alksnys]

On 2014.07.18 22:36, Viesturs Lācis wrote:
 First of all, that could be observed only on machines with nontrivial 
 kinematics. Second of all. this particular issue with joint mode after 
 executing mdi command through halui is fixed in master - I have 
 2.7.0-pre on my router and have it working nicely (I have several 
 pyvcp buttons for mdi commands, like going to machine home, aligning 
 work coordinate system etc). It will sometimes stay in MDI tab, but 
 joint mode issue is fixed. Grab deb package with latest master build, 
 install and check for yourself. Viesturs

No, this is trivialkins and as I wrote, it is latest dev - master version.

Should I make a sim config for others to be able to reproduce this problem?


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Re: [Emc-developers] MDI action and mdi_mode

[Marius Alksnys]

On 2014.07.20 14:18, Viesturs Lācis wrote:
 Hmm, then I do not understand the essence of the problem. Trivkins 
 module returns KINEMATICS_IDENTITY, instead of KINEMATICS_BOTH, so 
 there is no actual joint mode with this module, and it does not matter 
 anyway, because joints and axes are mapped one-to-one. Do you want 
 to use the halui.mode.is-joint signal to trigger some additional hal 
 logics?

 Viesturs
As I wrote in my first post, but probably not clear enough, the problem is:

gladevcp panel buttons are inactive. When they should be. User can't use my 
custom panel, because it simply doesn't work - HAL buttons with MDI actions are 
disabled, thus not working. They worked reliably before the update.





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[Emc-developers] MDI action and mdi_mode

[Marius Alksnys]

I ran an update on one config with master version. Haven't updated it 
for months. Then I noticed that my custom gladevcp panel buttons are 
inactive. As I found out, this is due to strange halui.mode.__ behaviour:
1. After power or / and after homing - is_joint and is_auto are on, the 
buttons are active, axis manual tab is opened.
2. After any MDI execution (using gladevcp HAL_button with MDI_action or 
just simply written in axis MDI window) - is_mdi and is_joint are on, 
the buttons inactive, axis MDI tab is opened.

How to solve this issue?

I found earlier thread in emc.user with the same or similar problem, 
dated 2012 March:
goes into joint-mode after MDI


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Re: [Emc-developers] Changes not showing in latest master

[Marius Alksnys]

I noticed this thread only now. This is my comment to this ticket:
https://sourceforge.net/p/emc/bugs/348/#9b18

On 06/27/2014 02:09 PM, Marius Liebenberg wrote:
 Hi Sebastian
 I am busy helping someone with a plasma setup and found that the changes
 that was made prior to the release of 2.6 does not reflect in master. So
 I would expect that it is not in 2.6 either.
 I am referring to a change that I made to the THCUD component. Someone
 else logged the issue but I fixed it and submitted fixed code on the
 issue tracker.




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Re: [Emc-developers] Changes not showing in latest master

[Marius Alksnys]

You wrote the line earlier as:
min_velocity = requested_vel - ( requested_vel 
-(requested_vel*(velocity_tol/100)));
and now you are writing it as:
min_velocity = requested_vel - (requested_vel * (velocity_tol * 0.01));
That's why I corrected and commented it.

You can change it to equal form:
min_velocity = requested_vel * (1 - velocity_tol * 0.01);

On 2014.07.07 15:09, John Thornton wrote:
 To avoid the divide by zero error I changed the original line in thc and
 thcud to:

 float min_velocity = requested_vel - (requested_vel * (velocity_tol *
 0.01));

 requested_vel = 100
 velocity_tol = 10
 min_velocity = 90

 90 = 100 - (100 * (10 * 0.01))

 I'm not that great with math... when I did some examples of your
 simplified line it didn't work out for me.
 min_velocity = requested_vel * velocity_tol / 100
 ? = 100 * 10 / 100
 ? = 1000 / 100
 10 = 10

 As for the suggestion to use requested_vel as part of the calculation of
 correction_vel I don't understand why that is good. IMHO the
 correction_vel should be as fast as the axis can correct without
 overshoot no matter what speed your cutting at.

 Any suggestions on making the description easier to understand are welcome.

 JT



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Re: [Emc-developers] Choosing platform for special GUI

[Marius Alksnys]

Schooner,

could you please direct me how to install Qt 5 on LinuxCNC Lucid. As I 
understood, I have to install lightdm first.

I tried to get and install lightdm binaries, but failed, then tried to 
compile it from sources, no success too - I got an error:

checking for LIGHTDM... no
configure: error: Package requirements (
 glib-2.0 = 2.30
 gio-2.0 = 2.26
 gio-unix-2.0
 xdmcp
 xcb
) were not met:

Requested 'glib-2.0 = 2.30' but version of GLib is 2.24.1
Requested 'gio-2.0 = 2.26' but version of GIO is 2.24.1

Consider adjusting the PKG_CONFIG_PATH environment variable if you
installed software in a non-standard prefix.

Alternatively, you may set the environment variables LIGHTDM_CFLAGS
and LIGHTDM_LIBS to avoid the need to call pkg-config.
See the pkg-config man page for more details.



On 04/25/2014 02:17 PM, Schooner wrote:

 You are not the only one

 The new Qt5 is a feat of complete s**t

 I have been tearing my hair out for weeks trying to get it to install


 OK I have to apologise (mostly) to Qt5
 I have finally found the problem.

 Qt5 is incompatable with icewm (window manager).

 Apps launched through it cannot get the current X server.

 There is a bug report
 http://sourceforge.net/p/icewm/bugs/909/
 which says it is fixed, but it is not, I just built from sources and
 still does not work

 Qt5 obviously does something different regards X access to all previous
 versions, which causes problems

 I have used icewm for upwards of 15 years, it is the first thing I
 install on a new system.
 It is a very fast light wm, great pity it cant be used.

 I only discovered this because my user uses lightdm by default and I
 logged in without switching to icewm.
 Having previously hung without any error, Qt5 now ran.

 When I had built and installed by download, I probably just used the
 defaults as well, as I was just doing that one thing in a terminal then
 leaving it to complete.

 So finally I can get to look at Alex's QtQuickVcp without wanting to
 throw something out of the window:-P

 regards


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Re: [Emc-developers] Choosing platform for special GUI

[Marius Alksnys]

Could you please give more info about QtQuickVcp
and how to install and run Qt5 on LinuxCNC?


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[Emc-developers] Choosing platform for special GUI

[Marius Alksnys]

I need to create a GUI for special machine. It is time to choose the 
platform for it.

The GUI will have lots of editboxes, labels (DROs) and tables for view 
and input, several tabs (forms or pages). It would be great to have user 
friendly tables and even expandable multi-level tables.

It does not have to have neither xyz plot nor simulation. Main controls 
can be made using hardware buttons.

I like GUI editors much more than having to code it by hand.

I can program in different languages like C, C++, Pascal, Visual Basic, 
but python would be new to me.

What I am looking at right now is Qt (probably, newest one) and ability 
to talk to LinuxCNC using linuxcncrsh.

As for newest Qt, it fails to run in 10.04 / Lucid. Installing xcb did 
not help. The message:

This application failed to start because it could not find or load the 
Qt platform plugin xcb.

Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, 
offscreen, xcb.

Reinstalling the application may fix this problem.
Aborted


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Re: [Emc-developers] Choosing platform for special GUI

[Marius Alksnys]

On 04/23/2014 12:00 PM, andy pugh wrote:
 Even though you don't know Python I think that the fact that PyVCP
 already does so much of what you need, and is already integrated into
 LinuxCNC/HAL possibly suggest that it is worth learning it.

 I had never touched Python when I wrote my lathe Macros  (
 http://www.linuxcnc.org/index.php/english/forum/41-guis/26550-lathe-macros
 ) and didn't find it all that hard to do what I wanted with existing
 widgets (some set HAL pins, some call G-code fragments) and a couple
 of conventional Glade widgets to call arbitrary Python code.

Thank you, Andy, I am thinking about Python as an option, but this is 
what I found not good about GladeVCP / python is:
1. value of hal_spinbutton does not change until user hits Enter, but it 
shows new typed value
2. problems trying to load default values or values from file for 
controls like hal_spinbutton
3. R/W pins are not working right in UI
4. Would it be easy to make multiple dynamic pages (like tab pages) of 
same sets of controls with ability to change their sequence?
5. Problems with keyboard shortcuts

Or am I wrong?


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Re: [Emc-developers] Choosing platform for special GUI

[Marius Alksnys]

BTW, I have a sketch of the GUI, which counts about 370 controls 
currently. Isn't python too slow for this?


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Re: [Emc-developers] Resolver index-enable bug found and solved

[Marius Alksnys]

This works for me too. But I am not using index divisor.

On 01/13/2014 07:11 PM, andy pugh wrote:
 The correct code might be:
 if (*res-hal.pin.index_enable  (res-index_cnts %
 res-hal.param.index_div == (res-hal.param.index_div == 1 ? 0 : 1))){



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Re: [Emc-developers] Resolver index-enable bug found and solved

[Marius Alksnys]

Yes, I think so. I can try now..

2014.01.14 12:45, andy pugh rašė:
 Is it convenient for you to test with the index-divisor?



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Re: [Emc-developers] Resolver index-enable bug found and solved

[Marius Alksnys]

Yes, homing with index works. I tested homing multiple times to both 
directions with index divisor 2 and 3. It homes to each 2nd or 3rd 
revolution accordingly.

2014.01.14 12:45, andy pugh rašė:
 On 14 January 2014 08:01, Marius Alksnys marius.alks...@gmail.com wrote:
 This works for me too. But I am not using index divisor.
 Is it convenient for you to test with the index-divisor?

 If not, then I can do it, but need to take my machine apart slightly.




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[Emc-developers] THC functionality

[Marius Alksnys]

Features I lack in thc component:

 1. height reset
I am not using any sensors to check for real distance to material
before cutting. I am trusting programmed coordinate instead. That's
why I would like to reset THC height between cuts, probably while in
safe-Z.
I noticed that correction remains even after thc.enable pin is low.
Maybe it is important to note: I am not using thc.z-fb-out pin.
I am thinking about adding thc.reset pin to thc component and net it
to digital-out-nn. Then, play with it in NGC program. But maybe
someone could offer a better way?
 2. Correction limiting. I would like to limit thc correction (for
safety and for plasma nozzle protection) to let's say [-5..+5] mm.
And when it goes out of it - turn machine off.
 3. Internal arc-ok signal with time-out safety function. Now I am
generating it with wcomp, without time-out yet.
 4. Starting near the edge. Like SidePierceMode or Side Entry Mode in
this article:
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?GantryPlasmaMachine
 5. Stopping near the edge. Maybe just add digital-out-nn and control it
from NGC. It would be nice for machine to make move without stopping.


By the way,  I have reported a related bug:
https://sourceforge.net/p/emc/bugs/348/


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[Emc-developers] gladevcp in axis and key stealing

[Marius Alksnys]

How to disable keyboard for gladevcp controls at all?


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Re: [Emc-developers] gladevcp in axis and key stealing

[Marius Alksnys]

Yes, this worked, but the problem remains while mouse cursor is over the 
panel.

On 01/14/2014 02:56 PM, andy pugh wrote:
 I think you need to change the ignore list



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[Emc-developers] Resolver index-enable bug found and solved

[Marius Alksnys]

joints_axes4 branch, homing to index with MESA resolver card worked to 
one direction only. index-enable pin does not reset going to another 
direction.

I think I found the reason for that in

src/hal/drivers/mesa-hostmot2/resolver.c:

I changed:
if (*res-hal.pin.index_enable  (res-index_cnts % 
res-hal.param.index_div == 1)){

to

if (*res-hal.pin.index_enable  (res-index_cnts % 
res-hal.param.index_div == 0)){


now it works to both directions! :)


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Re: [Emc-developers] Can't compile joints_axes4

[Marius Alksnys]

On 12/05/2013 10:30 AM, Sebastian Kuzminsky wrote:
 Not sure how that file went missing on your system.  Try removing the
 libgl1-mesa-dev package with 'dpkg --remove', then add it back in with
 'apt-get install' and see if it restores the missing file.

I tried two things today:
1.
As I found libGL.so somewhat corrupted - Krusader showed an icon with 
question mark, like for no other .so file. Furthermore, as the file it 
linked to was missing, I copied libGL.1.* files from /usr/lib/mesa to 
/usr/lib and corrected the link of libGL.so file.
And it worked.

Then I tried Seb's way (removed those two newly copied files at first):
2.
I removed libgl1-mesa-dev with sudo apt-get remove..
Then reinstalled, together with libglu1-mesa-dev  and it works now, 
I compiled master and ja4 branches successfully now!

Thank you all very much!

BTW, I am a GUI guy, but knew DOS quite well, came from windowz to Linux 
mainly because of LinuxCNC.

I would like to learn more and at least to be able to make some minor 
changes, fixes to LinuxCNC.

Marius


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Re: [Emc-developers] Can't compile joints_axes4

[Marius Alksnys]

Maybe I am a newbie in linuxcnc dev and programming, but IMO I am not 
dumb ;)

I did this already. And installed missing dependencies - there where 
several.
Now there are no such anymore, but result is the same.
To try I did from linuxcnc-dev/src dir:
make clean
git pull
./autogen
./configure --enable-run-in-place
and I get an error there.

On 12/04/2013 09:32 PM, Sebastian Kuzminsky wrote:
 On 12/04/2013 12:27 PM, Sebastian Kuzminsky wrote:
 cd debian ./configure -a (if installing simulator use ./configure
 sim instead) cd .. dpkg-checkbuilddeps

 Holy text format munging, Batman!

 Maybe this will come through clearer:

 cd debian

 ../configure -a (or ./configure sim)

 cd ..

 dpkg-checkbuilddeps





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Re: [Emc-developers] Can't compile joints_axes4

[Marius Alksnys]

On 12/04/2013 09:27 PM, Sebastian Kuzminsky wrote:
 the output of the commands in part 2.4 of the document i
 linked you:

 cd debian ./configure -a (if installing simulator use ./configure
 sim instead) cd .. dpkg-checkbuilddeps
 That assumes you're starting from the root of the git checkout, not
 from the src/ directory.

Yes, I did it right.
./configure -a
successfully configured for 'Ubuntu-10.04'-'2.6.32-122-rtai'..

and the result of
./configure --enable-run-in-place
is the same:
checking for glBegin in -lGL... no
configure: error: Required GL library missing.  Install it, or specify 
--disable-python to skip the parts of LinuxCNC that depend on Python



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Re: [Emc-developers] Can't compile joints_axes4

[Marius Alksnys]

I tried it this way (from the root of the git checkout):
git checkout master
git pull
cd src
./autogen.sh
./configure --enable-run-in-place

Same results


On 12/04/2013 09:57 PM, Kent A. Reed wrote:
 Can you configure and make on the master branch? The same test for
 glBegin in -lGL is performed.




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Re: [Emc-developers] Can't compile joints_axes4

[Marius Alksnys]

Kent,

I found three similar instances inside /usr/lib/ :
/usr/lib/libGL.so
/usr/lib/mesa/libGL.so.1
/usr/lib/mesa/libGL.so.1.2

But I am not familiar with these things - what they mean and what to do 
with them..


On 12/04/2013 10:44 PM, Kent A. Reed wrote:
 FYI, Marius.

 On my 64-bit Debian system, the symbol glBegin occurs in

 /usr/lib/x86_64-linux-gnu/libGL.so -
 /usr/lib/x86_64-linux-gnu/libGL.so.1 -
 /usr/lib/x86_64-linux-gnu/libGL.so.1.2

 (where the first two are symbolic links and the third is the actual
 library file the chain of symbolic links resolves to and which is
 tested). This is just what the ./configure test is looking for.

 YMMV. For example, on my BeagleBoneBlack, the relevant links and file
 are /usr/lib/arm-linux-gnuebihf/libGL.so etc.


 Regards,
 Kent



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Re: [Emc-developers] Can't compile joints_axes4

[Marius Alksnys]

I even tried to delete the git checkout folder completely, then followed 
the instructions
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Installing_LinuxCNC#Getting_the_source_with_git
Paragraphs 2.2, 2.5
2.4 does not help either


Still the same :(


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Re: [Emc-developers] Can't compile joints_axes4

[Marius Alksnys]

 Ok, so it's something about the environment/machine you're building on.

 What is the output of these commands:

 lsb_release -a

No LSB modules are available.
Distributor ID: Ubuntu
Description:Ubuntu 10.04.4 LTS
Release:10.04
Codename:   lucid


 dpkg-architecture

DEB_BUILD_ARCH=i386
DEB_BUILD_ARCH_OS=linux
DEB_BUILD_ARCH_CPU=i386
DEB_BUILD_ARCH_BITS=32
DEB_BUILD_ARCH_ENDIAN=little
DEB_BUILD_GNU_CPU=i486
DEB_BUILD_GNU_SYSTEM=linux-gnu
DEB_BUILD_GNU_TYPE=i486-linux-gnu
DEB_HOST_ARCH=i386
DEB_HOST_ARCH_OS=linux
DEB_HOST_ARCH_CPU=i386
DEB_HOST_ARCH_BITS=32
DEB_HOST_ARCH_ENDIAN=little
DEB_HOST_GNU_CPU=i486
DEB_HOST_GNU_SYSTEM=linux-gnu
DEB_HOST_GNU_TYPE=i486-linux-gnu


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Re: [Emc-developers] Can't compile joints_axes4

[Marius Alksnys]

On 12/04/2013 11:09 PM, Kent A. Reed wrote:
 So something has corrupted your actual libGL file, or a link in the
 chain to it, or ./configure isn't looking in the right place for them.

I understand this, but how to fix it?
May it be due to installing, uninstalling AMD (ATi) video drivers? But I 
did this before successful compilation of linuxcnc.


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Re: [Emc-developers] Jog velocity behaviour - joints_axes

[Marius Alksnys]

now [JOINT_0]MAX_VELOCITY limits axis X jog velocity. Seems to be the 
same for Y and Z too.


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Re: [Emc-developers] Jog velocity behaviour - joints_axes

[Marius Alksnys]

On 11/29/2013 02:15 PM, Marius Alksnys wrote:
 now [JOINT_0]MAX_VELOCITY limits axis X jog velocity. Seems to be the
 same for Y and Z too.

I forgot to note that this is wrong. In my case joints are angular, but 
xyz axes are linear. Joints and axes are totally different things.



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[Emc-developers] LinuxCNC goes mad when IK fails in genserkins

[Marius Alksnys]

I get strange behaviour when I go out of reach in with genserkins.

Such things like the same resolver angle signal showing right and stable 
in hal configuration, but going crazy in halscope (noise with an 
amplitude of +-30). Maybe that's why pid outputs are a noise of full 
amplitude and motors make bad sounds..

joint.0.amp-enable-out pin is high even when e-stop is on!

And there are much more things wrong. I am running joints_axes4 branch.


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Re: [Emc-developers] Jog velocity behaviour - joints_axes

[Marius Alksnys]

On 11/22/2013 01:22 AM, Chris Radek wrote:
 On Thu, Nov 14, 2013 at 10:55:10AM +0200, Marius Alksnys wrote:

 I don't see at least a workaround for jog velocity control in world mode...

 Thanks for this report - I think I have fixed it in joints_axes4.
 Could you run your tests again please?

 Thanks
 Chris


Chris,

now jog speed (linear) controls the jog speed of all axes (including 
angular ones) and neither max velocity nor feed override limits them.

Thanks.


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Re: [Emc-developers] LinuxCNC does not start - TclError

[Marius Alksnys]

On 11/20/2013 04:15 PM, Sebastian Kuzminsky wrote:
 I just pushed a fix for that a few hours ago.  Fetch and try again.

It started to work then. Thanks!


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[Emc-developers] LinuxCNC does not start - TclError

[Marius Alksnys]

Master branch, debug output:
File /usr/bin/axis, line 3256, in module
 icons = (root_window.tk.call(load_image, axis-48x48),
_tkinter.TclError: Image axis-48x48 does not exist


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Re: [Emc-developers] Building a new C++ kinematics module

[Marius Alksnys]

Yeah, I see it is not simple at all.
BTW, maybe this would be interesting too?
http://www.orocos.org/kdl/examples


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Re: [Emc-developers] BLDC component homing to encoder index - is it correct?

[Marius Alksnys]

On 11/15/2013 12:53 PM, andy pugh wrote:
 I can see an argument for adding a pin to connect the counts value
 from the encoder. This could be connected to the bldc component so
 that the component can see how much further the encoder has moved
 since the index was seen.

I like this idea.


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[Emc-developers] Jog velocity behaviour - joints_axes

[Marius Alksnys]

6 axis articulated robot, using genserkins, axis GUI.
Jog velocity behaviour in joint mode:

Feed override in joint mode seems to works for all joints, but in world 
mode it acts as on/off: when it is more than 0 - jogging at full speed, 
when 0 - nothing moves.

Linear jog speed controls joints 0, 1, 2, does nothing in world mode.

Angular jog speed controls joints 3, 4, 5, does nothing in world mode.

Max velocity does not limit neither joints nor axes while jogging, it 
limits velocity while running a program.

halui.adaptive feed works in joint mode and in program, but does not 
work while jogging axes.


I don't see at least a workaround for jog velocity control in world mode...


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[Emc-developers] Tool direction display in axis

[Marius Alksnys]

I use genserkins, joints_axes4 branch. All coordinates seems to be 
correctly working (moving joints and looking if world coordinates 
match). But tool direction is making crazy things. For example when I 
jog joint 4, but the tool orientation in axis display does not follow 
cone, it rotates over its tip at some points in space more frequently 
than in others. Tool tip coordinates, and tool track seems to be ok.

Where should I look for a reason / solution?


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Re: [Emc-developers] Building a new C++ kinematics module

[Marius Alksnys]

Frank,

have you made any progress with it? Please let me know if you do.

Thanks.


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Re: [Emc-developers] Building a new C++ kinematics module

[Marius Alksnys]

Frank,

ikfast got my attention recently and I looked for someone who could help 
me make custom kinematics for 6 axis articulated robot. Can I ask you to 
help find the way to do it with ikfast?

Marius

On 2013.11.11 12:08, Frank Tkalcevic wrote:
 I'm playing with ikfast which generates c++ code.  If it all
 works properly, I'll look into modifying ikfast to generate C code.  Most of
 the C++ code is just bundling the results up into lists.



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[Emc-developers] Joint max_acceleration bug in joints_axes

[Marius Alksnys]

I am tuning axes while jogging them. And I noticed that max_acceleration 
gets value from [TRAJ]DEFAULT_LINEAR_ACCEL instead of joints one, while 
it is angular and [JOINT_X]MAX_ACCELERATION is much higher.


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