Re: [Emc-users] FW: A Classicladder Problem in TRUNK
On Sat, 2008-12-20 at 22:14 +, Chris Morley wrote: > As for the vertical bar the way to erase it was to place it again. The eraser > didn't work on the vertical bar but is fixed now. I almost didn't mention this because I was able to erase one of the vertical connectors with the version in TRUNK. I'm glad to know it was broken in the past because it could have been something I was doing wrong. > At one time I was going to write up about the file format but didn't think > anyone would be interested. When things really screw up it is sometimes > the easiest way- I will add it to the wiki when I get time - it would be good > reference for me anyways. File formats are always interesting, especially to me! They usually reveal things about the inner workings of programs. Thanks, Matt -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] A Classicladder Problem in TRUNK
On Sat, 2008-12-20 at 14:40 -0500, Matt Shaver wrote: > In one case I couldn't delete a > vertical connector bar and editing the .clp file was the workaround I > used. I use the vertical bar to remove itself because the eraser can't sense the vertical. These icons are press on press off. HTH Rayh -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] A Classicladder Problem in TRUNK
On 20 Dec 2008 at 14:40, Matt Shaver wrote: In one case I couldn't delete a > vertical connector bar and editing the .clp file was the workaround > I used. That has been fixed AFAIK. In older versions you could use the vertical connector tool and click again on a bar and it would erase it. John -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] FW: A Classicladder Problem in TRUNK
From: chrisinnana...@hotmail.com To: m...@mattshaver.com Subject: RE: [Emc-users] A Classicladder Problem in TRUNK Date: Sat, 20 Dec 2008 22:04:04 + > From: m...@mattshaver.com > To: emc-users@lists.sourceforge.net > Date: Sat, 20 Dec 2008 14:40:38 -0500 > Subject: Re: [Emc-users] A Classicladder Problem in TRUNK > > So as not to let this thread die off with no outcome reported, I did get > the toolchanger running again by using %IW instead of %W for the tool > prep number. > > One issue here is that the "Vars" button doesn't show these new > variables. Probably a third window is needed after "bit vars" and > "internal word vars", "I/O word vars" should be displayed. Just a > thought here, not ultra critical. I could certainly assign an %IW to a % > W to display it if it was really necessary. > > Also, other than the source code itself, is there documentation on the > classicladder file format? I'm especially interested in the 10 x 6 > arrays of "0-0-0/0" type data. I ask because I've had trouble in the > past manipulating the ladder logic using the GUI and it would be easier > to just directly edit this file. In one case I couldn't delete a > vertical connector bar and editing the .clp file was the workaround I > used. > > Thanks, > Matt Matt If you edit the %W s in the vars window and change them to %IW or %QW (or %Cxx.V etc for that matter) it will display the appropriate data. I intend to change the window sometime though i'm not sure exactly how at this moment only %E (error) variables are not displayable in a vars window. As for the vertical bar the way to erase it was to place it again. The eraser didn't work on the vertical bar but is fixed now. At one time I was going to write up about the file format but didn't think anyone would be interested. When things really screw up it is sometimes the easiest way- I will add it to the wiki when I get time - it would be good reference for me anyways. Messenger wants to send you on a trip. Enter today. _ -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Off topic-Electrical design help
It's absolutely a cost issue, and the servo drives are way to exotic for this project. I only need a small motor that just drives or brakes according to the rate that the computer sent. I had an idea of letting a thyristor shopping up the frequency, but it would be much easier to run a DC motor and then decrease the power in a classic DC-motor-rpm controller way (cut the DC into a square wave). If the value given is under 0, switch to a heat sink and let the motor act as a generator. If the value is above 0, switch to power and turn the square code on. I still think it's not more than a 12 V ~30 W motor we speak about - maybe not even that. What do you think? 2008/12/20 Dale Ertley > Can't we run an AC servo in a + or - torque mode, based on a + or - control > voltage applied to the servo drive? Clockwise rotation (torque force) for + > and CCW for a - control voltage. The servo tries to maintain a commanded > torque output. Forcing the motor shaft to rotate. I would think DC servo > drives will do the same. > Dale > > --- On Sat, 12/20/08, Javid Butler wrote: > > From: Javid Butler > Subject: [Emc-users] Off topic-Electrical design help > To: emc-users@lists.sourceforge.net > Date: Saturday, December 20, 2008, 1:08 PM > > Is there a reason such as cost or space that an off-the-shelf drive for the > motor cannot be used? > > Some of the new drives have the capabilities that you are looking for built > in. > I was just hearing the other day about a Siemens drive that is even line > power > regenerative-when the motor is being used for braking the energy is not > dissipated in a resistor bank, but is put back into the power line. So the > braking energy is actually powering the lights in the building (for > example-you > could thing of it as running the air conditioning too). > > The energy efficiency is not quite the point here, just that a drive may be > available for that motor that already has the drive/braking capability you > need. > > Unless you are wanting to work it out for the fun of doing it, which is > something I completely understand! > > Javid > > -- > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > > > > > > -- > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] A Classicladder Problem in TRUNK
So as not to let this thread die off with no outcome reported, I did get the toolchanger running again by using %IW instead of %W for the tool prep number. One issue here is that the "Vars" button doesn't show these new variables. Probably a third window is needed after "bit vars" and "internal word vars", "I/O word vars" should be displayed. Just a thought here, not ultra critical. I could certainly assign an %IW to a % W to display it if it was really necessary. Also, other than the source code itself, is there documentation on the classicladder file format? I'm especially interested in the 10 x 6 arrays of "0-0-0/0" type data. I ask because I've had trouble in the past manipulating the ladder logic using the GUI and it would be easier to just directly edit this file. In one case I couldn't delete a vertical connector bar and editing the .clp file was the workaround I used. Thanks, Matt -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] EMC 2.2.7 + 7i43 + Ted's sample, and same error than using EMC 2.2.6 + 7i43 + Ted's sample.... What now?
Richard Acosta wrote: > El 20/12/08 14:17, Sebastian Kuzminsky escribio': >> Richard Acosta wrote: >> >>> OK, this is what i meant on my last message. My hardware is suppossed to >>> be OK, i have made a few tests on DOS and all went fine. >>> I guess there is something wrong on linux, config files or the driver >>> itself. >>> The error now is "unknown command" when using 2.2.6 lights went OK after >>> loading firmware and they give me OK (ready), but now they dont. >>> >> What did you type before it said "unknown command"? Without knowing >> what you're doing, it's hard for us to help you. >> >> > I didn't type anything, it is using the configs provided by Ted Hyde > wich are supposed to be working for him. Without seeing what's happening on your computer, we can not help. Do what produces the error, then pastebin the dmesg output and any other relevant logs, then email us the pastebin URL. -- Sebastian Kuzminsky "Okay, people. Now is the time to start discussing the rules of war for autonomous robots. Now, when it's still theoretical." -- Bruce Schneier -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Off topic-Electrical design help
Can't we run an AC servo in a + or - torque mode, based on a + or - control voltage applied to the servo drive? Clockwise rotation (torque force) for + and CCW for a - control voltage. The servo tries to maintain a commanded torque output. Forcing the motor shaft to rotate. I would think DC servo drives will do the same. Dale --- On Sat, 12/20/08, Javid Butler wrote: From: Javid Butler Subject: [Emc-users] Off topic-Electrical design help To: emc-users@lists.sourceforge.net Date: Saturday, December 20, 2008, 1:08 PM Is there a reason such as cost or space that an off-the-shelf drive for the motor cannot be used? Some of the new drives have the capabilities that you are looking for built in. I was just hearing the other day about a Siemens drive that is even line power regenerative-when the motor is being used for braking the energy is not dissipated in a resistor bank, but is put back into the power line. So the braking energy is actually powering the lights in the building (for example-you could thing of it as running the air conditioning too). The energy efficiency is not quite the point here, just that a drive may be available for that motor that already has the drive/braking capability you need. Unless you are wanting to work it out for the fun of doing it, which is something I completely understand! Javid -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] EMC 2.2.7 + 7i43 + Ted's sample, and same error than using EMC 2.2.6 + 7i43 + Ted's sample.... What now?
El 20/12/08 14:17, Sebastian Kuzminsky escribio': > Richard Acosta wrote: > >> OK, this is what i meant on my last message. My hardware is suppossed to >> be OK, i have made a few tests on DOS and all went fine. >> I guess there is something wrong on linux, config files or the driver >> itself. >> The error now is "unknown command" when using 2.2.6 lights went OK after >> loading firmware and they give me OK (ready), but now they dont. >> > > What did you type before it said "unknown command"? Without knowing > what you're doing, it's hard for us to help you. > > I didn't type anything, it is using the configs provided by Ted Hyde wich are supposed to be working for him. -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] Off topic-Electrical design help
Is there a reason such as cost or space that an off-the-shelf drive for the motor cannot be used? Some of the new drives have the capabilities that you are looking for built in. I was just hearing the other day about a Siemens drive that is even line power regenerative-when the motor is being used for braking the energy is not dissipated in a resistor bank, but is put back into the power line. So the braking energy is actually powering the lights in the building (for example-you could thing of it as running the air conditioning too). The energy efficiency is not quite the point here, just that a drive may be available for that motor that already has the drive/braking capability you need. Unless you are wanting to work it out for the fun of doing it, which is something I completely understand! Javid -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] EMC 2.2.7 + 7i43 + Ted's sample, and same error than using EMC 2.2.6 + 7i43 + Ted's sample.... What now?
On Sat, 20 Dec 2008, Sebastian Kuzminsky wrote:
> Date: Sat, 20 Dec 2008 09:17:41 -0700
> From: Sebastian Kuzminsky
> Reply-To: "Enhanced Machine Controller (EMC)"
>
> To: "Enhanced Machine Controller (EMC)"
> Subject: Re: [Emc-users] EMC 2.2.7 + 7i43 + Ted's sample,
> and same error than using EMC 2.2.6 + 7i43 + Ted's sample What now?
>
> Richard Acosta wrote:
>> OK, this is what i meant on my last message. My hardware is suppossed to
>> be OK, i have made a few tests on DOS and all went fine.
>> I guess there is something wrong on linux, config files or the driver
>> itself.
>> The error now is "unknown command" when using 2.2.6 lights went OK after
>> loading firmware and they give me OK (ready), but now they dont.
>
> What did you type before it said "unknown command"? Without knowing
> what you're doing, it's hard for us to help you.
>
Also other than logging in, I didn't have to type _anything_
to get EMC running with the 7I43
Heres the (lazy) path I followed:
Install EMC 2.2.6 from LiveCD
Upgrade to 2.2.7 (via synaptic)
Upgrade to 2.2.8 (via synaptic)
launch emc from menu
double click on hm2servo
UP AND RUNNING!
>
> --
> Sebastian Kuzminsky
> "Okay, people. Now is the time to start discussing the rules of war for
> autonomous robots. Now, when it's still theoretical." -- Bruce Schneier
>
> --
> ___
> Emc-users mailing list
> Emc-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/emc-users
>
Peter Wallace
Mesa Electronics
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Re: [Emc-users] Off topic-Electrical design help
On Saturday 20 December 2008, John Thornton wrote: >DC applied to an AC motor will slow the motor down and stop it... > Generally speaking it won't stop it dead because it has to turn to generate the braking force currents in the always shorted armature of an AC induction motor. This force can be quite violent if the armature is turning at a good rate. A short circuit applied to a spinning universal motor also works well. I have a couple chop saws, both with universal (brushed) motors that short the motor to stop them quicker when the trigger is released. The 8.5 incher has a habit of unscrewing the arbor bolt with the stopping torque unless its no looser than 1/8 turn from broke. Cheap arbor, no d-flats... The stopping torque of the 12" Dewalt slams the blade the rest of the way to the lower stop if I don't have a good grip on it. I'm told one should not use a dead short on PM field motors though as the currents can be great enough to damage the PM field pieces magnetically and permanently. So when I converted the spindle on my micromill to computer (EMC) control, the short I use to stop it isn't, I used a 10 ohm 20 watt R, so the stop, while still fairly quick, isn't nearly as violent. Perhaps 3/4ths second from full speed. If I were designing a stopper for a multihorse AC spindle motor using the DC method, I would do so with electronics so as to apply a small starting current and ramp it up for a second, then turn it off to save the semiconductors, ramping it high enough to get it mostly stopped in that second. The stop would be just as good, and a lot less violent to the machinery. >dunno if this helps but it is an old technique for braking. I think Otis was letting elevators down that way in the at about the turn of the last century (1900?), so yes, its an old idea. Now if talking about a road simulator, and automotive horsepower levels, then I think I'd design with DC motors purely because the power they generate as a generator when loading with them can be largely dissipated with an externally cooled resistor bank, or better yet used to recharge the batteries that run it. Using an AC motor implies that all the heat will need to be absorbed by the armature of the motor, and its mass vs Curie point then becomes the time limiting factor. If the iron is heated above its "Curie point" by the power input, it likely will be permanently toasted. I've seen that happen in ferrites. No sign of damage, but they are magnetically gone forever. Regular silicon steel as used in those motors has a much higher Curie point than most ferrites (some are below 100C!) though so the damage will probably be to the stator winding varnishes from the heat radiated by the hot armature. Curie point, for those who haven't heard the term before, when talking about ferrous materials, is defined as that temperature where, as its warmed up, the material suddenly becomes non-magnetic. Quenching rapidly can freeze this state into the steel and it is then called austenitic because while its steel, it can't be picked up with a magnet. It has advantages and automotive engines have used it for exhaust valves since the 50's cuz its much harder to burn than regular steel. Its main downfall is a horrible thermal expansion which caused those engines without hydraulic lifters to require from .019" to .027" as tappet clearances just to make sure the valve did close all the way as the engine warmed up. More than you wanted to know probably. :) I'll find the door thank you. -- Cheers, Gene "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) Death before dishonor. But neither before breakfast. -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] EMC 2.2.7 + 7i43 + Ted's sample, and same error than using EMC 2.2.6 + 7i43 + Ted's sample.... What now?
Richard Acosta wrote: > OK, this is what i meant on my last message. My hardware is suppossed to > be OK, i have made a few tests on DOS and all went fine. > I guess there is something wrong on linux, config files or the driver > itself. > The error now is "unknown command" when using 2.2.6 lights went OK after > loading firmware and they give me OK (ready), but now they dont. What did you type before it said "unknown command"? Without knowing what you're doing, it's hard for us to help you. -- Sebastian Kuzminsky "Okay, people. Now is the time to start discussing the rules of war for autonomous robots. Now, when it's still theoretical." -- Bruce Schneier -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] EMC 2.2.7 + 7i43 + Ted's sample, and same error than using EMC 2.2.6 + 7i43 + Ted's sample.... What now?
El 20/12/2008 01:46 a.m., Sebastian Kuzminsky escribió: > Peter C. Wallace wrote: > >> On Tue, 16 Dec 2008, Richard Acosta wrote: >> >> Did sc7i43P report that the 7I43 had a 400K FPGA? >>> Yes it says a 400k >>> Well it should say something like: Pass: 1 Error Count: 0 loop count: 10 Pass: 2 Error Count: 0 loop count: 20 Pass: 3 Error Count: 0 loop count: 30 >>> and i confirm this too. >>> >> Have you tried upgrading to 2.2.8? >> >> I just did this on a test machine here (motherboard parallel port @ 0x378, >> 7I43-4 connected), started emc, (absolutely stock, no changes) doubleclicked >> on the hm2servo sample config (from Ted Hyde) and I was up and running (well >> I >> dont have machine attached but I did end up with a Axis being a nice 3d >> Etch-A-Sketch when I turned the motor shafts. >> > > If 2.2.7 doesnt work for him, i dont know why 2.2.8 would. Something's > wrong with Richard's hardware. > OK, this is what i meant on my last message. My hardware is suppossed to be OK, i have made a few tests on DOS and all went fine. I guess there is something wrong on linux, config files or the driver itself. The error now is "unknown command" when using 2.2.6 lights went OK after loading firmware and they give me OK (ready), but now they dont. -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] EMC 2.2.7 + 7i43 + Ted's sample, and same error than using EMC 2.2.6 + 7i43 + Ted's sample.... What now?
No problem, i'll try 2.2.8 but... was the same about 2.2.7... i was
using 2.2.6 and you told about going to 2.2.7, and i went, so... should
i guess 2.2.7 is not ready...¿?
I mean... if it is supposed to work in a version, why should i always go
next version to make at least a try?. and this since the first i tryed.
El 19/12/2008 11:30 p.m., Peter C. Wallace escribió:
> On Tue, 16 Dec 2008, Richard Acosta wrote:
>
>
>>> Did sc7i43P report that the 7I43 had a 400K FPGA?
>>>
>>>
>> Yes it says a 400k
>>
>>> Well it should say something like:
>>>
>>> Pass: 1 Error Count: 0 loop count: 10
>>> Pass: 2 Error Count: 0 loop count: 20
>>> Pass: 3 Error Count: 0 loop count: 30
>>>
>> and i confirm this too.
>>
>
> Have you tried upgrading to 2.2.8?
>
> I just did this on a test machine here (motherboard parallel port @ 0x378,
> 7I43-4 connected), started emc, (absolutely stock, no changes) doubleclicked
> on the hm2servo sample config (from Ted Hyde) and I was up and running (well
> I
> dont have machine attached but I did end up with a Axis being a nice 3d
> Etch-A-Sketch when I turned the motor shafts.
>
> Thanks Sebastian!
>
> Peter Wallace
> Mesa Electronics
>
> (\__/)
> (='.'=) This is Bunny. Copy and paste bunny into your
> (")_(") signature to help him gain world domination.
>
>
> --
> ___
> Emc-users mailing list
> Emc-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/emc-users
>
>
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Re: [Emc-users] Off topic-Electrical design help
DC applied to an AC motor will slow the motor down and stop it... dunno if this helps but it is an old technique for braking. John On 20 Dec 2008 at 13:15, Sven Wesley wrote: > It's either pushing or braking according to the given value, but the > value > will change over time. It's going to be a part of a simulator where > the > program will simulate a road, so it's uphill or downhill. > > Sven > > 2008/12/20 Leslie Newell > > > Does it have to be two function i.e brake - push or does it need > to > > produce a constant force? Constant force can be very easily > achieved > > with a torque mode servo drive or even a simple constant current > circuit > > driving a motor. > > > > Les > > > > > > > > -- > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Off topic-Electrical design help
Back when computers where not the norm, the company I worked with made a road load function generator. It worked in conjunction with a motor and a gearbox to couple a eddy current brake. The brake had the road load function generator as its input. The generator really was just a Y=aV^2+bV+c equation, which could easily be implemented in the computer today. (V is speed, a,b & c are the coefficients of windage, resistance, and friction, respectively.) I believe the uphill or downhill component would be mostly the b value. > Date: Sat, 20 Dec 2008 12:11:43 +0100 > From: svenne.d...@gmail.com > To: emc-users@lists.sourceforge.net > Subject: [Emc-users] Off topic-Electrical design help > > Sorry guys for using the list for something not really related to EMC, but I > do know here are a lot of people with the knowledge I need. > > It was long time ago I designed something with electronics, so I hope > someone can help me. > What I need is an electric braker-pusher. It will not need to come to an > absolute stop, it should just add or release resistance on a rolling device. > It's very much like the electric braker on a bicycle trainer, but with the > option to give energy too. > > A little spec would be: > A small motor, maybe 12 V and 30 W. Not sure how much needed yet. > Should take a value, for example -100 to +100 from a computer, controlling > the output. Minus values for braking and positive for pushing. > Returns RPM from a magnet switch. > > The motor will always be rotated, even when braking at maximum, some kind of > heat sink is definitely needed. > I would say that the circuit is something like a servo controller board but > a lot more primitive, no positioning or extras, just burning or giving > energy. > -- > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users _ It’s the same Hotmail®. If by “same” you mean up to 70% faster. http://windowslive.com/online/hotmail?ocid=TXT_TAGLM_WL_hotmail_acq_broad1_122008 -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Off topic-Electrical design help
It's either pushing or braking according to the given value, but the value will change over time. It's going to be a part of a simulator where the program will simulate a road, so it's uphill or downhill. Sven 2008/12/20 Leslie Newell > Does it have to be two function i.e brake - push or does it need to > produce a constant force? Constant force can be very easily achieved > with a torque mode servo drive or even a simple constant current circuit > driving a motor. > > Les > > > -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Off topic-Electrical design help
Does it have to be two function i.e brake - push or does it need to produce a constant force? Constant force can be very easily achieved with a torque mode servo drive or even a simple constant current circuit driving a motor. Les Sven Wesley wrote: > Sorry guys for using the list for something not really related to EMC, but I > do know here are a lot of people with the knowledge I need. > > It was long time ago I designed something with electronics, so I hope > someone can help me. > What I need is an electric braker-pusher. It will not need to come to an > absolute stop, it should just add or release resistance on a rolling device. > It's very much like the electric braker on a bicycle trainer, but with the > option to give energy too. > > A little spec would be: > A small motor, maybe 12 V and 30 W. Not sure how much needed yet. > Should take a value, for example -100 to +100 from a computer, controlling > the output. Minus values for braking and positive for pushing. > Returns RPM from a magnet switch. > > The motor will always be rotated, even when braking at maximum, some kind of > heat sink is definitely needed. > I would say that the circuit is something like a servo controller board but > a lot more primitive, no positioning or extras, just burning or giving > energy. > -- > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Off topic-Electrical design help
google for regenerative braking as used in vehicles Dave Caroline (archivist) -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] Off topic-Electrical design help
Sorry guys for using the list for something not really related to EMC, but I do know here are a lot of people with the knowledge I need. It was long time ago I designed something with electronics, so I hope someone can help me. What I need is an electric braker-pusher. It will not need to come to an absolute stop, it should just add or release resistance on a rolling device. It's very much like the electric braker on a bicycle trainer, but with the option to give energy too. A little spec would be: A small motor, maybe 12 V and 30 W. Not sure how much needed yet. Should take a value, for example -100 to +100 from a computer, controlling the output. Minus values for braking and positive for pushing. Returns RPM from a magnet switch. The motor will always be rotated, even when braking at maximum, some kind of heat sink is definitely needed. I would say that the circuit is something like a servo controller board but a lot more primitive, no positioning or extras, just burning or giving energy. -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Robot Kinematics
Dan,
This is part of a program use to control a mimimover robot witch looks
a lot like the teachmover.
It was written by my father centuries ago ... =)
I think it's written in Modula-2 and contains the kinematic equations
you'll need.
Regards, Jan
DEFINITION MODULE Trans;
(*
CCRC Cartesisian coordinates to Robot coordinates
Cartesian: (millimeters and radians)
x cc[0]
y cc[1]
z cc[2]
pich cc[3]
roll cc[4]
Robot: r1,r2,r3,r4,r5 (radians)
RCCC Robot to Cartesian coordinates
Robot: rc[0] ... rc[4]
Cartesian: x,y,z,p,r
TWRC: steps to robot coordinates
t : steps
rc : robot
RCTW Robot coordinates to steps
t : steps
rc : robot
*)
EXPORT QUALIFIED CCRC,RCCC,TWRC,RCTW,IntToReals;
PROCEDURE CCRC(cc:ARRAY OF REAL;VAR r1,r2,r3,r4,r5:REAL;VAR ok:BOOLEAN);
(*Carthesian to robot coordinates
Deze procedure zet cart. coordinaten om naar robotcoordinaten.
Cart.coord. :x,y en z waarden in mm.
pitch en roll in radialen
x,y,z,p en r resp. cc[0] tot cc[4].
Robotcoord. :Dit zijn de hoeken in radialen van de gewrichten
r1,r2,r3,r4,r5.
ok :Geeft aan of er fouten waren. *)
PROCEDURE RCCC(rc:ARRAY OF REAL;VAR x,y,z,p,r:REAL);
(*Robot coordinates to carthesian coordinates
Robotcoordinaten worden omgezet naar cart. coordinaten.
Robotcoord. :rc[0] tot rc[4].
Cart. coord. :x,y,z,p en r. *)
PROCEDURE TWRC(t:ARRAY OF INTEGER;VAR rc:ARRAY OF REAL);
(*Steps to robotcoordinates (scaling?)
Tellerwaarden die verkregen zijn door de procedue Read kunnen hier
omgezet worden in Robotcoordinaten.
Tellerwaarden :aantal stappen dat elke motor reeds verplaatst is
t[0] tot t[5].
Robotcoord. :rc[0] tot rc[5]
rc[5] = handopening in mm. *)
PROCEDURE RCTW(rc:ARRAY OF REAL;VAR t:ARRAY OF INTEGER);
(* robotcoordinates to steps
De robotcoordinaten worden omgezet in tellerwaarden.
Robotcoord. :rc[0] tot rc[5].
Tellerwaarden :t[0] tot t[5]
*)
PROCEDURE IntToReals(i:INTEGER):REAL;
(* Functie-procedure die een INTEGER i omzet naar een REAL. *)
END Trans.
___
IMPLEMENTATION MODULE Trans;
FROM InOut IMPORT WriteString;
FROM FloatingUtilities IMPORT Round;
FROM MathLib0 IMPORT sin,cos,arctan,sqrt;
PROCEDURE Error(n: CARDINAL);
BEGIN
CASE n OF
1 : WriteString(' Locatie buiten werkgebied van de robot ');|
2 : WriteString(' Te grote rotatie van de pols '); |
3 : WriteString(' Te grote rotatie van de arm ');
ELSE ;
END
END Error;
PROCEDURE Sign (r:REAL):REAL;
VAR Teken : REAL;
BEGIN
IF r=0.0 THEN Teken := 0.0
ELSIF r<0.0 THEN Teken := -1.0
ELSE Teken := 1.0
END;
RETURN Teken
END Sign;
PROCEDURE RCCC(rc:ARRAY OF REAL;VAR x,y,z,p,r:REAL);
(* Zet robotcoordinaten om naar cart. coord. *)
CONST el = 177.8;
ll = 89.0;
h = 195.0;
VAR rr : REAL;
BEGIN
r:=((rc[4]-rc[3])/2.0)-rc[0];
p:=((rc[4]+rc[3])/2.0);
rr:=el*cos(rc[1])+el*cos(rc[2])+ll*cos(p);
x:=rr*cos(rc[0]);
y:=rr*sin(rc[0]);
z:=h+el*sin(rc[1])+el*sin(rc[2])+ll*sin(p);
END RCCC;
PROCEDURE CCRC(cc:ARRAY OF REAL;VAR r1,r2,r3,r4,r5:REAL;VAR ok:BOOLEAN);
(* Zet cart. coord. om naar robotcoord. *)
CONST el = 177.8;
pi = 3.141592654;
ll = 89.0;
h = 195.0;
VAR d,g,a,ro,b,rr,zo,v1,v2,v3,v4 : REAL;
notok : BOOLEAN;
BEGIN
ok:=TRUE;
d:=180.0/pi;
v1:=144.0/d;
v2:=127.0/d;
v3:=180.0/d;
v4:=270.0/d;
b:=4.0*el*el;
rr:=sqrt(cc[0]*cc[0]+cc[1]*cc[1]);
IF(cc[0]<0.0)OR(rr<60.0)
THEN ok:=FALSE;
Error(1)
ELSE IF cc[0]=0.0
THEN r1:=Sign(cc[1])*pi/2.0
ELSE r1:=arctan(cc[1]/cc[0])
END;
r5:=cc[3]+cc[4]+r1;
r4:=cc[3]-cc[4]-r1;
IF(ABS(r4)>v4)OR(ABS(r5)>v4)
THEN ok:=FALSE;
Error(2)
ELSE ro:=rr-ll*cos(cc[3]);
zo:=cc[2]-ll*sin(cc[3])-h;
IF ro=0.0
THEN g:=Sign(zo)*pi/2.0
ELSE g:=arctan(zo/ro)
END;
a:=ro*ro+zo*zo;
a:=b/a-1.0;
IF (a<0.0)OR(ro<60.0)
THEN ok:=FALSE;
Error(1)
ELSE a:= arctan(sqrt(a));
r2:=a+g;
r3:=g-a;
notok := (r2>v1) OR (r2< -v2) ;
notok := notok OR (r2+ r3 < -v3) OR (r2+r3>v1);
IF notok THEN
ok:=FALSE;
Error(3)
END
END
END
END
END CCRC;
PROCEDURE TWRC(t:ARRAY OF INTEGER;VAR rc:ARRAY OF REAL);
VAR b:ARRAY[0..5]OF BOOLEAN;
i:INTEGER;
BEGIN
FOR i:=0 TO 5 DO b[i]:=FALSE;
IF t[i]<0 THEN b[i]:=TRUE;
t[i]:=-t[i] END;
END;
rc[0]:=-FLOAT(t[0])/1125.0; rc[1]:=-FLOAT(t[1])/1125.0;
rc[2]:= FLOAT(t[2])/672.0; rc[3]:=-FLOAT(t[3])/241.0;
rc[4]:= FLOAT(t[4])/241.0; rc[5]:= FLOAT(t[5])/13.4;
FOR i:=0 TO 5 DO IF b[i] THEN rc[i]:=-rc[i] END END;
rc[1]:=0.47694+rc[1];rc[2]:=-1.6155+rc[2];
rc[3]:=-1.57079+rc[3];rc[4]:=-1.57079+rc[4];
END TWRC;
PROCEDURE RCTW(rc:ARRAY OF REAL;VAR t:ARRAY OF INTEGER);
BEGIN
rc[1]:=rc[1]-0.47694;
rc[2]:=rc[2]+1.6155;
rc[3]:=rc[3]+1.57079;
rc[4]:=rc[4]+1.57079;
t[0]:=-Round(1125.0*rc[0]);
t[1]:=-Round(1125.0*rc[1]);
t[2]:= Round(672.0*rc[2]);
t[3]:=-Round(241.0*rc[3]);
t[4]:= Round(241.0*rc[4]);
t[5]:= Round(13.4*rc[5])
END RCTW;
PROCEDURE IntToReals(i:INTEGER):REAL;
VAR r
