Re: [Emc-users] HOME Sensors

[Javier Ros Ganuza]

On Mon, 2007-02-05 at 12:28 -0500, Jim Register wrote:
> On Mon, 2007-02-05 at 14:24 +0100, Javier Ros Ganuza wrote:
> > On Mon, 2007-02-05 at 07:53 -0500, Jim Register wrote:
> > > On Mon, 2007-02-05 at 11:11 +0100, Javier Ros Ganuza wrote:
> > > > Returning to my previous thread about HOMING. I did read the information
> > > > pointed out here (section 5.4 of the manual), and there is some thing I
> > > > can understand:
> > > > 
> > > > What is index pulse?.
> > > > 
> > > > I have brushless servos with quadrature encoders. Is the index pulse
> > > > signal the one from the quadrature encoder, or is it a different signal
> > > > (the one coming for hal sensors, something entirely different, or
> > > > something that can be arbitrarily assigned within EMC, or..)???.
> > > 
> > > Javier,
> > > 
> > > The index pulse would come from the simulated encoder on the 631 servo
> > > drive, on the X40 pins labeled "Z" and "/Z".  
> > > 
> > 
> > In our case, the Z or /Z are not simulated (I think :) ), the brushless
> > have a quadrature encoder, and we are driving all to the motenc-100
> > terminal board.
> 
> According to the 631 docs, your motor actually has a resolver instead of
> an encoder; the 631 driver simulates the encoder signals.  That's just a
> minor detail at the moment, but it may be important when you are
> troubleshooting.  It sounds like a very nice arrangement.
> 
Sorry if it sounds too trivial, but I'm lost, what is the diferencie
between encoder and resolver. Well, I know what is a encoder, but I was
thinking that a resolver was in fact a encoder. So what is a resolver (a
potentiometer?)?


> > http://imac/parallel/images/argazkiak/DSCN1697.JPG shows the conection
> > of the RJ45 standard ethernet cable to the board (left-up)
> 

Sorry for the mistake, the server was in my internal network. The fully
qualified name is:

http://www.imac.unavarra.es/parallel/images/argazkiak/DSCN1697.JPG

> Oh, the X40 connector does not have the pairs on the same pins as an
> RJ45 Ethernet connection.  If you used a stock Ethernet cable, GND
> and /Z will be on one pair, Z and /A on another, and A and 5VI on a
> third.  Only B and /B will be on a pair.  You need to wire the RJ45 end
> so that each signal has its own pair, or the twisted pairs in the cable
> will actually work against you.
We've linked the individual cables following the diferent colors of the
cables that can be seen thought the plastic connector and the conection
diagram provided for x40 in the 631 manual, the RJ45 cable has been open
in the opposite end, and corresponding connections has been made
following motenc-100 terminal board specifications. EMC wonderfully
drives the assembly  so I think we've made proper connections in this
side.


> 
> > And in http://imac/parallel/images/argazkiak/DSCN1691.JPG you can see
> > the Oposite end of the same RJ45 cable, conected to the X40 input.
> 

should be

http://www.imac.unavarra.es/parallel/images/argazkiak/DSCN1691.JPG 

> Unfortunately, those links take me to the Apple(tm) website, but I did
> find the images on your website.
> 
> (The cabinet looks nice, by the way.)
> 
> > We have configured the 631 servo to output quadrature signals from X40.
> >
> >
> >
> > So if I got the idea: 
> > 
> > We can use index pulse, and the index pulse is taken from the Z
> > and/or /Z signals that is being fed to the card. So activating index
> > pulse in the HOMING configuration will work (in fact it works but we
> > didn't  known if index pulse was actually being used) using index
> > pulse.???
> 
> Yes, the Motenc driver supports the index pulse in EMC2.1
> 
> > So in general (just for curiosity), index pulse is always taken from Z
> > and/or /Z signal from quadrature encoder???
> 
> Correct. 
> 

It has been very clarifying  for me.

So, it can be said that: "index pulse" is a concept internally defined
by EMC and depending on hardware the driver can implement this index
pulse in different ways. It happens that with the motenc-100 driver, or
with other divers using quadrature encoders,  the index pulse is defined
using available Z and/or /Z quadrature signals.

Do you agree?

Thanks a lot

Javier

> > 
> > Many thanks
> > 
> > Javier Ros
> 
> You are welcome.
> 
> Jim
> 
> 
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Re: [Emc-users] Spindle

[Javier Ros Ganuza]

Many thanks, for all your answers related to Spindle subject.

I'm collecting the information in the "anotaciones" section in the
project page (www.imac.unavarra.es/parallel)

I expect to process it tomorrow, and start to draw the manipulator head
drawings.

Thanks again

Javier


On Mon, 2007-02-05 at 11:30 -0600, Jon Elson wrote:
> Javier Ros Ganuza wrote:
> 
> >Hello :)
> >
> >For our project of a parallel manipulator, we want to attach an spindle
> >to the head.
> >
> >Googling for spindles I'm not being too successful
> >
> >I've found these
> >
> >http://www.kress-elektrik.de/es/products/browse_products.php?categorie=765
> >
> >
> >and some others but quite far from what we need.
> >
> >But I would like to put some thing more professional but with a geometry
> >an concept similar to the one of the above link, a system not very big,
> >because weight and space requirements in the parallel head.
> >
> >  
> >
> You could get a Precise spindle, sometimes known as a Rockwell/Precise.
> The oldest ones have a universal motor, later ones were air-cooled with
> 2-phase AC motors, I think the latest ones are water cooled.
> 
> Jon
> 
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[Emc-users] USB and HAL question

[Manfredi Leto]

Hello,

I'm not an expert so the question could be stupid...

If I have a sort of USB joypad or joystick, is there a way using HAL to read 
these signals from USB port and using them for example to jog?

thanks,

Manfredi

_
Don't just search. Find. Check out the new MSN Search! 
http://search.msn.click-url.com/go/onm00200636ave/direct/01/


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Re: [Emc-users] USB and HAL question

[Jeff Epler]

Yes, there is.  Please see the "hal_joystick" manual page in emc2.1
.  I
don't recall if hal_joystick was included in emc 2.0.

Jeff

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[Emc-users] Package question

[Larry D. O'Cull]

I have managed to get all the packages installed such that I can compile 
the EMC but I have a script error. There is a command 'package' that is not 
recognized. What package does the 'package' command come from? I am trying 
to run this in simulator mode in Ubuntu 5.1 in VMware under Windows XP.

Thanks,
Larry


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Re: [Emc-users] EMC2.1 Live CD

[Jack Ensor]

I need to know what the kernal version is on EMC2 6.06 in order to to down
load the proper drivers.
- Original Message -
From: "Jack Ensor" <[EMAIL PROTECTED]>
To: "Alex Joni" <[EMAIL PROTECTED]>; "Enhanced Machine Controller (EMC)"

Sent: Tuesday, February 06, 2007 4:15 AM
Subject: Re: [Emc-users] EMC2.1 Live CD


> Thanks for all the help that has been provided.  Yes the drive was too
> small and after switching ot a larger drive it installed fine. Now I
> need to work out details of getting dialup to work and the laser jet
> printer to work with it. I'm currently plowing thru that.
>


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Re: [Emc-users] EMC2.1 Live CD

[jmkasunich]

"Jack Ensor" <[EMAIL PROTECTED]> wrote:

> I need to know what the kernal version is on EMC2 6.06 in order to to down 
> load the proper drivers. 

"uname -r" at the command line will tell you the kernel version on any Linux
system.

It probably ends in "-magme", that identifies the real time OS patches.  Use
the numbers that precede the -magma if you are hunting drivers.

Regards,

John Kasunich

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Re: [Emc-users] Package question

[Jeff Epler]

Please include the full error that you encountered.

Jeff

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Re: [Emc-users] EMC2.1 Live CD

[Jeff Epler]

On any Linux system, the command
uname -r
will show the version number of the running kernel.  The version is
probably 2.6.15-magma.

Jeff

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Re: [Emc-users] HOME Sensors

[Stephen Wille Padnos]

Javier Ros Ganuza wrote:

[most of the thread snipped]

>Sorry if it sounds too trivial, but I'm lost, what is the diferencie
>between encoder and resolver. Well, I know what is a encoder, but I was
>thinking that a resolver was in fact a encoder. So what is a resolver (a
>potentiometer?)?
>  
>
A resolver is a different kind of sensor, which detects the rotation of 
a magnetic/electric field.  These are AC excited analog sensors which 
will give you absolute rotation information from 0-360 degrees.  See 
this wikipedia page:  


An encoder is a digital device, which outputs a code based on position.  
This will either be a binary code giving the absolute position or (more 
common for CNC) an incremental quadrature code based on movement.  See 
this wikipedia page: 

>>>So in general (just for curiosity), index pulse is always taken from Z
>>>and/or /Z signal from quadrature encoder???
>>>  
>>>
Most incremental encoders with index outputs label the index channel 
"Z".  I think "I" is also used sometimes.

>>Correct. 
>>
>It has been very clarifying  for me.
>
>So, it can be said that: "index pulse" is a concept internally defined
>by EMC and depending on hardware the driver can implement this index
>pulse in different ways. It happens that with the motenc-100 driver, or
>with other divers using quadrature encoders,  the index pulse is defined
>using available Z and/or /Z quadrature signals.
>  
>
No.  Index pulses are not an EMC-specific thing.  Index is a separate 
channel that is used for detecting the orientation of the motor shaft.  
A normal incremental quadrature encoder can only tell you that the shaft 
has moved and in which direction.  The index tells you that the shaft is 
at a certain angle, which people usually define as 0 degrees rotation.

>Do you agree?
>
>Thanks a lot
>
>Javier
>  
>
Good luck
- Steve


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[Emc-users] Loadrt a new module error

[dushaohua]

I can insert the Mlink module manually,and it worked well.I changed the
module_helper.c by adding Mlink in it,and I added it in the core-sim.hal.
When I run the emc,it printed the error
HAL:5:ERROR:insmod failed,returned 1
But the Mlink module had been inserted,and when the emc shutdown,it didn't
remove the Mlink module.So I wonder if there is another .c file that it 
checks the modules list,and throws out an error,so the emc shutdown.I want 
to know which file,or maybe what I thought is wrong.I didn't find 
hal_ready().

Thanks



In last letter,I wrote
I'm using the Ubuntu 6.06 which has the emc2 in it.I made a new module named 
Mlink,and changed the module_helper.c by adding Mlink in it .When I run the 
emc2,it said 
 HAL:5:ERROR:insmod failed,returned 1
But when I use the lsmod ,it has been inserted.I don't know where the error 
lies.
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[Emc-users] Package question

[Larry D. O'Cull]

I have managed to get all the packages installed such that I can compile 
the EMC but I have a script error. There is a command 'package' that is not 
recognized. What package does the 'package' command come from? I am trying 
to run this in simulator mode in Ubuntu 5.1 in VMware under Windows XP.

/ EMC2 - 2.1.0
/ Error in startup script: invalid command name "msgcat::mclocale"
/while executing
/  "msgcat::mclocale $env(LANG)"
/ (file "/home/vmware/Projects/emc2/tcl/bin/../emc.tcl" line 45)
/ invoked from within
/  *source [file join [file dirname [info script]] .. emc.tcl]"
/(file "/home/vmware/Projects/emc2/tcl/bin/pickconfig.tcl" line 34)

Thanks,
Larry 


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Re: [Emc-users] Loadrt a new module error

[Jeff Epler]

A HAL component must call hal_ready().  halcmd loadrt is only suitable
for loading HAL components, not non-HAL kernel modules.

Jeff

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Re: [Emc-users] Package question

[Jeff Epler]

Does this sequence of commands fail as well?  If so, it may indicate
that the installation of the "tcl8.4" package is incomplete or damaged.

$ tclsh
% package require msgcat
1.3.3
% msgcat::mclocale $env(LANG)
en_us.utf-8
% 

Jeff

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Re: [Emc-users] EMC2.1 Live CD

[jensor]

You're right 2.6.15-magma is what that command returns.

I,m trying to get dialup working. Have run scanModem and determined what I
need.It returned that the support needed for my chipset is hcflinmodem.
When I downloaded that and ran it immediately tried to connect in the process of
installing itself and of course crashed since it couldn't connect because it
wasn't installed yet. Don't know why they try to do things that way.

It looks like after wading through all the material it is hopeless to find a
modem driver compatible with my version on linuxant.com. On the page
http://www.linuxant.com/drivers/hcf/full/downloads-ubuntu-x86.php
there is not anything that matches up with my kernal.
They suggest that I try a generic package with source and that the kernel-source
and the gcc C compiler must be properly installed on my system to dynamically
build the driver modules upon installation. 
That sounds formibable.
What do you think?

Jack Ensor
 



Quoting Jeff Epler <[EMAIL PROTECTED]>:

> On any Linux system, the command
> uname -r
> will show the version number of the running kernel.  The version is
> probably 2.6.15-magma.
> 


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[Emc-users] Loadrt a new module error

[dushaohua]

I'm using the emc2.0.4 and the hal_ready doesn't exist-
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Re: [Emc-users] EMC2.1 Live CD

[Chris Radek]

On Tue, Feb 06, 2007 at 08:47:01PM -0500, [EMAIL PROTECTED] wrote:
> and the gcc C compiler must be properly installed on my system to dynamically
> build the driver modules upon installation. 
> That sounds formibable.

Yes, especially without a network connection to download the
software.

> What do you think?

This sounds flippant but I'm being 100% serious: you should get a
different modem (not a winmodem).  Any external modem (that plugs into
a serial port) will work without a special driver, as will the
internal version of some of these old ones.

http://cgi.ebay.com/ws/eBayISAPI.dll?ViewItem&item=120083858887

This is one like I have.  Any local computer junk shop should be able
to give you a nice old-fashioned modem for a few dollars.  I used the
internal version of this same modem successfully on many customer
machines at work.

Failing that, you may be able to find a winmodem that has support
built into the stock 2.6.15 kernel, but I don't know anything about
that.  I've had a similar problem finding a wireless card for my
laptop - google has some information, but it's often hard to tell
exactly what's in the box you're buying.

Good luck,

Chris


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Re: [Emc-users] Package question

[Larry D O'Cull]

I reloaded tcl8.4, plus a couple of versions of swish, and about 3 other 
packages... and I am getting closer.
Now the error I get during the make is:
make: *** No rule to make target `tcl.h', needed by 
`depends/emc/usr_intf/iosh.d'.  Stop.

Thoughts?

-Original message-
From: Jeff Epler [EMAIL PROTECTED]
Date: Tue, 06 Feb 2007 20:28:42 -0500
To: "Enhanced Machine Controller (EMC)" emc-users@lists.sourceforge.net
Subject: Re: [Emc-users] Package question

> Does this sequence of commands fail as well?  If so, it may indicate
> that the installation of the "tcl8.4" package is incomplete or damaged.
> 
> $ tclsh
> % package require msgcat
> 1.3.3
> % msgcat::mclocale $env(LANG)
> en_us.utf-8
> % 
> 
> Jeff
> 
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Re: [Emc-users] Package question

[Larry D O'Cull]

I have concluded that the following referenced header files are missing from 
the EMC source package:

#include "tcl.h"
#include "tk.h"
#include "rcs.hh"   // etime()
#include "posemath.h"   // PM_POSE
#include "emc.hh"   // EMC NML
#include "emcglb.h" // EMC_NMLFILE, TRAJ_MAX_VELOCITY, etc.
#include "emccfg.h" // DEFAULT_TRAJ_MAX_VELOCITY
#include "inifile.hh"   // INIFILE
#include "motion.h" // emc struct and commands
#include "usrmotintf.h" // usrmot interface

Is there a place I can download these?

Thanks!
Larry

-Original message-
From: Jeff Epler [EMAIL PROTECTED]
Date: Tue, 06 Feb 2007 20:28:42 -0500
To: "Enhanced Machine Controller (EMC)" emc-users@lists.sourceforge.net
Subject: Re: [Emc-users] Package question

> Does this sequence of commands fail as well?  If so, it may indicate
> that the installation of the "tcl8.4" package is incomplete or damaged.
> 
> $ tclsh
> % package require msgcat
> 1.3.3
> % msgcat::mclocale $env(LANG)
> en_us.utf-8
> % 
> 
> Jeff
> 
> -
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Re: [Emc-users] EMC2.1 Live CD

[Ray Henry]

Hello Jack

I did get linmodem to work once with a box I had.  In fact it was rather
easy but I had to download the package on another box, move the source
to the box with the winmodem chip, and compile.  That done, a modprobe
slmodem got the system installed so that the other software could find
it.  That was in the days before Ubuntu.  I've not tried since although
there are several of those modems laying about.

These days I find it a lot easier to use an external modem that is
serial port connected.  What I've got here looks like an ActionTec.  

Rayh


On Tue, 2007-02-06 at 20:30 -0600, Chris Radek wrote:
> On Tue, Feb 06, 2007 at 08:47:01PM -0500, [EMAIL PROTECTED] wrote:
> > and the gcc C compiler must be properly installed on my system to 
> > dynamically
> > build the driver modules upon installation. 
> > That sounds formibable.
> 
> Yes, especially without a network connection to download the
> software.
> 
> > What do you think?
> 
> This sounds flippant but I'm being 100% serious: you should get a
> different modem (not a winmodem).  Any external modem (that plugs into
> a serial port) will work without a special driver, as will the
> internal version of some of these old ones.
> 
> http://cgi.ebay.com/ws/eBayISAPI.dll?ViewItem&item=120083858887
> 
> This is one like I have.  Any local computer junk shop should be able
> to give you a nice old-fashioned modem for a few dollars.  I used the
> internal version of this same modem successfully on many customer
> machines at work.
> 
> Failing that, you may be able to find a winmodem that has support
> built into the stock 2.6.15 kernel, but I don't know anything about
> that.  I've had a similar problem finding a wireless card for my
> laptop - google has some information, but it's often hard to tell
> exactly what's in the box you're buying.
> 
> Good luck,
> 
> Chris
> 
> 
> -
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Re: [Emc-users] Package question

[Ray Henry]

I believe that what may well be missing are the first two.  They are a
part of the development packages for tcl and tk.  The other files should
be in your emc2/src source tree.

Rayh


On Tue, 2007-02-06 at 21:51 -0500, Larry D O'Cull wrote:
> I have concluded that the following referenced header files are missing from 
> the EMC source package:
> 
> #include "tcl.h"
> #include "tk.h"
> #include "rcs.hh" // etime()
> #include "posemath.h" // PM_POSE
> #include "emc.hh" // EMC NML
> #include "emcglb.h"   // EMC_NMLFILE, TRAJ_MAX_VELOCITY, etc.
> #include "emccfg.h"   // DEFAULT_TRAJ_MAX_VELOCITY
> #include "inifile.hh" // INIFILE
> #include "motion.h"   // emc struct and commands
> #include "usrmotintf.h"   // usrmot interface
> 
> Is there a place I can download these?
> 
> Thanks!
> Larry
> 
> -Original message-
> From: Jeff Epler [EMAIL PROTECTED]
> Date: Tue, 06 Feb 2007 20:28:42 -0500
> To: "Enhanced Machine Controller (EMC)" emc-users@lists.sourceforge.net
> Subject: Re: [Emc-users] Package question
> 
> > Does this sequence of commands fail as well?  If so, it may indicate
> > that the installation of the "tcl8.4" package is incomplete or damaged.
> > 
> > $ tclsh
> > % package require msgcat
> > 1.3.3
> > % msgcat::mclocale $env(LANG)
> > en_us.utf-8
> > % 
> > 
> > Jeff
> > 
> > -
> > Using Tomcat but need to do more? Need to support web services, security?
> > Get stuff done quickly with pre-integrated technology to make your job 
> > easier.
> > Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo
> > http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642
> > ___
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> > https://lists.sourceforge.net/lists/listinfo/emc-users
> > 
> 
> -
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Re: [Emc-users] Command-line interface to EMC2

[Glenn R. Edwards]

Thanks Eric!

This helped a lot.  I upgraded to EMC2.1 (non-trivial because I had
modified .ini and .hal files, but not too bad) and was able to get a
local telnet session going very quickly.  But, I am having trouble with
the 'set open path/filename' command.  It just does not seem to work,
though I can get all the other 'set' and 'get' commands to work fine.  I
am running AXIS in the background - it's cool to see it respond to
external commands.  Any thoughts?

Developers: EMC2.1 rules!

Best regards,
-- --
Glenn 


-Original Message-
From: [EMAIL PROTECTED]
[mailto:[EMAIL PROTECTED] On Behalf Of Eric H.
Johnson
Sent: Friday, December 29, 2006 11:54 AM
To: 'Enhanced Machine Controller (EMC)'
Subject: Re: [Emc-users] Command-line interface to EMC2

Glenn, 

See if this is of any value. I haven't checked the released version
lately,
so this may only be in head at this time. But do a CVS check out and
compile
of 'HEAD'. In there you will find a program called "emcrsh" (in bin). It
basically supports the same functions as emcsh only over a telnet
session.

To use it with an existing configuration and GUI, in the configuration
you
are using, simply add "loadusr emcrsh" to the end of "core_servo.hal" or
"core_stepper.hal" for example. To use it in place of any GUI, copy
bin/emcrsh over bin/emcsh, and in the ini file set "display" to "tkemc".
Then emcrsh will run in place of any GUI.

Once it is running you can open a telnet session from the local machine
as
follows:
telnet localhost 5007
Or from a remote machine by:
telnet  5007

This will establish a telnet session with EMC. Enter 'help' or 'help
' to show all of the commands which are supported. Some
important
ones are:

Hello   

Example:
hello EMC emcuser 1.0

The default password is 'EMC', the client name can be anything, but I
typically use the network name of the computer establishing the telnet
session, and the only version which currently exists is '1.0'. A
successful
hello exchange is required before emcrsh will respond to any commands
other
than "help" and "quit". This will allow you to "get" (see "help get")
information from EMC. 

By default, 'echo' is on, so the first thing you will probably want to
do
is:
set echo off

Also, when manually entering commands through telnet, you can get more
meaningful error messages by turning verbose on, as follows:
set verbose on

If you want to change any EMC values, then you must "enable" the session
as
the session in control as follows:

set enable 

Example:
set enable EMCTOO

Where 'EMCTOO' is the default enable password. Emcrsh supports multiple
simultaneous connections, but only allows one to be enabled for control
at
any given time. A successful enable will disable any other session
having
control. 

Note: It does not affect any of the GUIs specified by "display" in the
ini
files and does not take control away from them, only other telnet
sessions.

Let me know if that is of any help.

Regards,
Eric

> Several months ago I asked a question about remote control of 
> EMC.  I received many excellent responses - thank you all.
> 
>  
> 
> As the system architecture progresses, it has become clear 
> (or clearer) that what I need is the ability run EMC2 from 
> within a Python shell program (or supervisory program) 
> running on the same computer as EMC2.  The shell program will 
> start/stop EMC2 (not necessary, but nice-to-have), deliver an 
> " *.ngc"  file to EMC2 and have EMC2 execute that file 
> (necessary) and get status reports from EMC2 (necessary).
> 
>  
> 
> I have researched emcsh and emcsvr , but have come to 
> dead-ends on both topics.  Does anyone have any ideas on 
> where to start my research?  Thanks!  I sense that I am just 
> emulating a GUI (or precluding the use of one), of which 
> there are many excellent ones that have been developed for EMC2.



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