Re: [Emc-users] limit switches

[Dave]

That is the way my big lathe is setup also.  When it hits a limit it 
disconnects the servo drives from the motors, disables them 
electronically,  and shorts the phases of the motor together with a 
separate contactor to brake the motors ASAP.
In order to get off a limit I have to over-ride the hardware limit with 
a momentary pushbutton, re-enable the drives and then jog off the limit. 

The feed drives are about 4 kw.

Dave


John Prentice wrote:
> Stuart, greetings
>
> - Original Message - 
> From: "Stuart Stevenson" 
> Sent: Monday, September 21, 2009 4:31 PM
>
>
>   
>> Gentlemen,
>>   The Cinci was set up to use home switches. I am now using the limit
>> switches for homing. I did this to better match the homing cycle to other
>> machines in the shop.
>> 
> 
>
> Pardon me coming out of "lurk mode" to offer a comment.
>
> While seeing the advantage of direction sensitive disable to allow easy 
> jogging off the limits, personally I would want to treat limit switches on a 
> big machine like your 5 axis Cinci in the same way as E-stop - i.e. not rely 
> on software (or indeed perhaps silicon) to stop motion (ISO 13850:2006).
>
> Best wishes
>
> John Prentice
>
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>   


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Re: [Emc-users] limit switches

[Stuart Stevenson]

On Mon, Sep 21, 2009 at 11:59 AM, Jon Elson  wrote:

> Stuart Stevenson wrote:
> >During this I learned something. I have been trying to "fix" the servo
> > amps so when I hit a hard limit they just disable the direction the table
> > was moving when the limit switch was contacted. I found the servo amps
> are
> > working correct. It is EMC2 that is shutting the servos off when I hit
> the
> > limit switches.
> Are you using the individual amp enables?  I think if you use the E-stop
> relay to enable the
> amps, they will stay on after a limit switch is hit.  A limit switch
> normally does the same as hitting
> F2, which goes from "Machine On" to "Machine Off", but it doesn't cause
> an E-stop.
> >  I much prefer the servos to remain on. This is not a problem
> > on the X, Y or Z axes. The problem is the A and B axes. Given the weight
> of
> > the head and the reality that there are no brakes on the motors:
> >if the head is tilted enough to hit the limit
> > switch
> >and
> >the servos turn off
> >then
> >the weight of the head will cause the head to
> > coast (fall) until the pinion gear disengages from the rack.
> >This is not a huge problem and should be almost nonexistent. I will
> know
> > and do not feel comfortable with this as a possibility.
> >I have disengaged the limit feedback for each axis. I am just using
> one
> > limit hooked to the home feedback. This allows homing.
> >My question is this (and maybe I have just overlooked it in the
> manual).
> >   Is there a pin out of EMC2 that will disable
> the
> > motion in the direction of motion instead of shutting down all the
> servos?
> >
> Well, EMC by default doesn't produce separate amp enables for + and -
> direction.  it depends on
> additional limit switches to control those direction enable inputs on
> the amps.  But, of course,
> you could rig the regular limit inputs in HAL directly to digital
> outputs to drive the amp's
> limit inputs.  Given enough digitial outputs, that would be no biggie,
> and you shouldn't even
> need any hal component for it.  Just use the invert parameter of the
> output pin to select the
> desired polarity.  Of course, on a 5-axis machine, this will eat up 10
> more digital outputs.
>
> I hope this helps.
>
> Jon
>
>
>   Yes, I have individual amp enables.
  The current as configured (prior to homing) action is as follows:
   motion toward axis end of travel
   cam on slide hits the limit switch
   axis following error  (the limit switch disable motion in
that direction of travel but EMC2 does not stop it's motion output).
  The desired action would be for EMC2 to stop motion output in that
direction of travel also.
thanks
Stuart

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Re: [Emc-users] limit switches

[John Prentice]

Stuart, greetings

- Original Message - 
From: "Stuart Stevenson" 
Sent: Monday, September 21, 2009 4:31 PM


> 
> Gentlemen,
>   The Cinci was set up to use home switches. I am now using the limit
> switches for homing. I did this to better match the homing cycle to other
> machines in the shop.


Pardon me coming out of "lurk mode" to offer a comment.

While seeing the advantage of direction sensitive disable to allow easy jogging 
off the limits, personally I would want to treat limit switches on a big 
machine like your 5 axis Cinci in the same way as E-stop - i.e. not rely on 
software (or indeed perhaps silicon) to stop motion (ISO 13850:2006).

Best wishes

John Prentice

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Re: [Emc-users] limit switches

[Jon Elson]

Stuart Stevenson wrote:
>During this I learned something. I have been trying to "fix" the servo
> amps so when I hit a hard limit they just disable the direction the table
> was moving when the limit switch was contacted. I found the servo amps are
> working correct. It is EMC2 that is shutting the servos off when I hit the
> limit switches.
Are you using the individual amp enables?  I think if you use the E-stop 
relay to enable the
amps, they will stay on after a limit switch is hit.  A limit switch 
normally does the same as hitting
F2, which goes from "Machine On" to "Machine Off", but it doesn't cause 
an E-stop.
>  I much prefer the servos to remain on. This is not a problem
> on the X, Y or Z axes. The problem is the A and B axes. Given the weight of
> the head and the reality that there are no brakes on the motors:
>if the head is tilted enough to hit the limit
> switch
>and
>the servos turn off
>then
>the weight of the head will cause the head to
> coast (fall) until the pinion gear disengages from the rack.
>This is not a huge problem and should be almost nonexistent. I will know
> and do not feel comfortable with this as a possibility.
>I have disengaged the limit feedback for each axis. I am just using one
> limit hooked to the home feedback. This allows homing.
>My question is this (and maybe I have just overlooked it in the manual).
>   Is there a pin out of EMC2 that will disable the
> motion in the direction of motion instead of shutting down all the servos?
>   
Well, EMC by default doesn't produce separate amp enables for + and - 
direction.  it depends on
additional limit switches to control those direction enable inputs on 
the amps.  But, of course,
you could rig the regular limit inputs in HAL directly to digital 
outputs to drive the amp's
limit inputs.  Given enough digitial outputs, that would be no biggie, 
and you shouldn't even
need any hal component for it.  Just use the invert parameter of the 
output pin to select the
desired polarity.  Of course, on a 5-axis machine, this will eat up 10 
more digital outputs.

I hope this helps.

Jon


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Re: [Emc-users] Slightly OT: Font files for Truetype-Tracer

[Jon Elson]

Kirk Wallace wrote:
> On Sun, 2009-09-20 at 22:29 -0400, BRIAN GLACKIN wrote:
>   
>> Greetings all.
>>
>> I recently used the Truetype-tracer to generate several lettered objects for
>> my two boys preschool.  The teachers loved the objects and were asking for
>> additional letters so the children could use them for tracing practice.
>>
>> One issue they had was the shape of the small case letter "a".  In almost
>> 
> ... snip
>
> Just in case it might help, I noticed AMS Euler:
> http://en.wikipedia.org/wiki/AMS_Euler 
>
> might have have the shape you want. I had a heck of a time finding a
> source or a means to use it in Linux. It seems to be available from
> Linotype in a font package costing $x00. I also found some chatter
> connected with using this typeface in TeX. Good luck on your quest.
>   
AMS sounds like American Mathematical Society, the people who have 
partly picked
up support for Don Knuth's TeX typesetting system.  There should be a 
TeX package
for any Linux system in the usual repository.  You should be able to get 
TeX (the typesetter),
MetaFont (font generator), a dvi viewer (xdvi) and a PostScript 
converter (dvips).

Not sure how you go from that to G-code, though.

Jon

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Re: [Emc-users] Slightly OT: Font files for Truetype-Tracer

[Kirk Wallace]

On Sun, 2009-09-20 at 22:29 -0400, BRIAN GLACKIN wrote:
> Greetings all.
> 
> I recently used the Truetype-tracer to generate several lettered objects for
> my two boys preschool.  The teachers loved the objects and were asking for
> additional letters so the children could use them for tracing practice.
> 
> One issue they had was the shape of the small case letter "a".  In almost
... snip

Just in case it might help, I noticed AMS Euler:
http://en.wikipedia.org/wiki/AMS_Euler 

might have have the shape you want. I had a heck of a time finding a
source or a means to use it in Linux. It seems to be available from
Linotype in a font package costing $x00. I also found some chatter
connected with using this typeface in TeX. Good luck on your quest.
-- 
Kirk Wallace
http://www.wallacecompany.com/machine_shop/
http://www.wallacecompany.com/E45/index.html
California, USA


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Re: [Emc-users] Slightly OT: Font files for Truetype-Tracer

[Dewey Garrett]

> FInally, if no to the above, is there a tool I can use to modify a
> font file to "undress an 'a'"?

fontforge might help:

Description: Font editor for PS, TrueType and OpenType fonts
 FontForge (formerly PfaEdit) allows you to edit outline and bitmap fonts.
 You can create new ones or modify old ones.  It is also a font format
 converter and can convert among PostScript (ASCII & binary Type 1,
 some Type 3s, some Type 0s), TrueType, and OpenType (Type2), CID-keyed,
 SVG, CFF and multiple-master fonts.
 .
 This package also provides these programs and utilities:
  fontimage - produce a font thumbnail image;
  mensis- examine and modify some of the tables in
  a truetype or opentype font;
  sfddiff   - compare two font files;
  showttf   - decompose a font file into its various tables
  and display it.

to install on ubunutu, use synaptic or
 $ apt-get install fontforge


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[Emc-users] limit switches

[Stuart Stevenson]

Gentlemen,
   The Cinci was set up to use home switches. I am now using the limit
switches for homing. I did this to better match the homing cycle to other
machines in the shop.
   I have the soft limits set.
   During this I learned something. I have been trying to "fix" the servo
amps so when I hit a hard limit they just disable the direction the table
was moving when the limit switch was contacted. I found the servo amps are
working correct. It is EMC2 that is shutting the servos off when I hit the
limit switches. I much prefer the servos to remain on. This is not a problem
on the X, Y or Z axes. The problem is the A and B axes. Given the weight of
the head and the reality that there are no brakes on the motors:
   if the head is tilted enough to hit the limit
switch
   and
   the servos turn off
   then
   the weight of the head will cause the head to
coast (fall) until the pinion gear disengages from the rack.
   This is not a huge problem and should be almost nonexistent. I will know
and do not feel comfortable with this as a possibility.
   I have disengaged the limit feedback for each axis. I am just using one
limit hooked to the home feedback. This allows homing.
   My question is this (and maybe I have just overlooked it in the manual).
  Is there a pin out of EMC2 that will disable the
motion in the direction of motion instead of shutting down all the servos?
thanks
Stuart

-- 
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Re: [Emc-users] Slightly OT: Font files for Truetype-Tracer

[BRIAN GLACKIN]

Thanks all for the responses.  I was hoping for a linux based font so I can
use Chris Radek's Truetype-tracer.  Dave Engvall's wife forwarded me a good
link as well.  I will look through the links provided and see if there is a
way to get them through the tracer program.

Does anyone know how to import fonts into Ubuntu?

Brian

>Hi Brian,
My husband forwarded your email to me about your needing to find a font
without the a having what you are calling a hat. I think the font you need
to find will be a manuscript font, more specifically D'Nealian or Zaner
Bloser.
Here is a link that might be helpful:
http://www.internet4classrooms.com/kplus_writing.htm#font
Good luck!
Barb Engvall (Dave's wife)
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Re: [Emc-users] Slightly OT: Font files for Truetype-Tracer

[Gene Heskett]

On Monday 21 September 2009, Jim Wilkin wrote:
>You might look at http://www.category5.tv/show_notes/  , Episode 102
>Tells you how to make your own fonts.
>Jim
>
If her ever gets to the subject of the show. 11 minutes in & they are still 
yakking about gmail's outage & the neighbors noise.  Good video server 
though, better bandwidth than any news site.

Thanks for the link, but it sounds like he is more in love with his own voice 
than anything else.

15 minutes in and I hit the exit button.

[...]

-- 
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)
The NRA is offering FREE Associate memberships to anyone who wants them.


There are twenty-five people left in the world, and twenty-seven of
them are hamburgers.
-- Ed Sanders

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Re: [Emc-users] CNC Workshop 2010, June 22-25, Ann Arbor, MI

[Dale Grover]

I'd be happy to help in whatever way, and that includes as a liaison 
to the event organizers if that would be useful.  Board folks--let me 
know if that works for you, but I don't want to step on any toes, 
either.  If I do this, I'll want some input about what we need at the 
Fest.

--Dale


At 11:47 AM -0500 9/20/09, Jon Elson wrote:
>Dale Grover wrote:
>>  George is definitely aware of the EMC meeting and the level of access
>>  and resources that were available at Roland's for the group.
>>
>>  It does not seem too soon to me for an EMC person to start working
>>  with George to get the best possible environment set up for the EMC
>>  Fest.
>>
>>  I'm happy to help in whatever way I can.  (I live in Ann Arbor, about
>>  15-20 minutes from WCC.)
>>  
>Umm, sounds like you just elected yourself!  But, honestly, your
>location puts you
>in a GREAT place to interface with the College people about space and
>environment
>details.  I would probably be bringing my minimill and usual pile of
>junk.  I don't know
>what project I'd be working on.  Maybe adding velocity estimation to the
>PPMC driver
>if I don't get there on my own first.  Or, maybe doing something with
>the Beagle Board,
>assuming that the RTAI development happens in time.
>
>Jon
>
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Re: [Emc-users] Slightly OT: Font files for Truetype-Tracer

[Jim Wilkin]

You might look at http://www.category5.tv/show_notes/  , Episode 102
Tells you how to make your own fonts.
Jim


Gene Heskett wrote:
> On Sunday 20 September 2009, BRIAN GLACKIN wrote:
>> Greetings all.
>>
>> I recently used the Truetype-tracer to generate several lettered objects
>> for my two boys preschool.  The teachers loved the objects and were asking
>> for additional letters so the children could use them for tracing
>> practice.
>>
>> One issue they had was the shape of the small case letter "a".  In almost
>> all printing, the typeset has the letting "hat" on the letter, but when
>> they teach the kids to write, they teach the letter "a" with no hat.
>>
>> I spent several hours yesterday going through the various freetype fonts
>> trying to find an "unhatted" a can could not find a single instance or
>> font.  I was doing this by running the program with a given font and the
>> letter "a" as the text, overwritting a .ngc file loaded into EMC, then just
>> refreshing the file.  Fortunately, Chris placed a comment at the top of
>> each ngc file written with that routine stating the given font.
>>
>> Needless to say, I was unsuccessful in my search.  Three questions.  First,
>> DOes anyone know of any freetype font with an "unhatted a"?  IF no, is
>> there a place where I can view all font sets without my current hunting
>> and pecking?  FInally, if no to the above, is there a tool I can use to
>> modify a font file to "undress an 'a'"?
> 
> Failing to find the 'a' you want may be best addressed by calling the .ngc 
> file into your favorite editor, and removing those cuts.
> 
> I recently did a similar operation of removing the fonts inner strokes to get 
> one good single line font character remaining while I was engraving the hold 
> down bar of a rumba box I'd made with the 8 notes that it can play.  I'd 
> guess it took 15 to 20 minutes to get a good letter by that method.  About 
> 3.5 hours total IIRC.  I may have to do it over as I'm now told that one of 
> them was supposed to be a sharp '#' too.
> 
>> Thanks for the help.
>>
>> Brian
>> ---
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> 
> 

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Re: [Emc-users] add a new Hal-Pin to motion controller

[Alex Joni]

The EMC_STAT struct is defined in emc.hh in emc2/src/emc/nml_intf

Basicly there are 3 memories:
1). the motion / HAL memory region
2). the shared memory between motion and task
3). the NML memory region.

I think you took care ok of 1).
For 2). you need to add the variable you want to emcmot_status_t (defined in 
src/emc/motion/motion.h) and update it in src/emc/motion/control.c: 
update_status()
>From there you need to map it to EMC_STAT, for that (3) you need to add it 
to EMC_MOTION_STAT, and update it in src/emc/task/taskintf.cc: 
emcMotionUpdate()
Once it's updated you can reach it as a part of EMC_STAT (EMC_STAT contains 
EMC_MOTION_STAT motion;).
So you want to access emcStatus->motion->controlshaftPos.

I would suggest you take a look at spindle.enabled and try to follow that 
through the various layers.

Let me know if I can be of more help, but preferably on the emc-developers 
list

Regards,
Alex



- Original Message - 
From: "Lindenmayr Bernd" 
To: 
Sent: Monday, September 21, 2009 1:27 PM
Subject: Re: [Emc-users] add a new Hal-Pin to motion controller


Hi Alex!

Thanks! I changed the names, but the error-message is still there.
Please correct me, if I get something wrong...There are two structs. One is
called emcmot_hal_data. This contains all pointers to the HAL-Pins. My new
pointer is called control_shaft_pos.
The other struct is emcmotStatus and is located in share memory and will be
updated cyclically. My new variable is called controlshaftPos.

In emcsh.cc I call the funcion Tcl_NewDoubleObj() to get the variable from
the status-struct:

shaftposobj = Tcl_NewDoubleObj(emcStatus->controlshaftPos);

shaftposobj is my new Tcl_objekt which is connected to
Tcl_SetObjResult(interp, shaftposobj)

I don´t understand the following errormessage :
emc/usr_intf/emcsh.cc:3318: Fehler: ?class EMC_STAT? hat kein Element namens
?controlshaftPos?
That means that it doesn´t exist any element in class EMC_STAT which is
called "controlshaftPos" which is the variable of the status-struct. Where
is the connection of the class EMC_STAT and the struct emcmotStatus ??

Thanks for your thoughts...

Bernd


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Re: [Emc-users] add a new Hal-Pin to motion controller

[Lindenmayr Bernd]

Hi Alex!

Thanks! I changed the names, but the error-message is still there.
Please correct me, if I get something wrong...There are two structs. One is
called emcmot_hal_data. This contains all pointers to the HAL-Pins. My new
pointer is called control_shaft_pos.
The other struct is emcmotStatus and is located in share memory and will be
updated cyclically. My new variable is called controlshaftPos.

In emcsh.cc I call the funcion Tcl_NewDoubleObj() to get the variable from
the status-struct:

shaftposobj = Tcl_NewDoubleObj(emcStatus->controlshaftPos);

shaftposobj is my new Tcl_objekt which is connected to
Tcl_SetObjResult(interp, shaftposobj)

I don´t understand the following errormessage :
emc/usr_intf/emcsh.cc:3318: Fehler: ?class EMC_STAT? hat kein Element namens
?controlshaftPos?
That means that it doesn´t exist any element in class EMC_STAT which is
called "controlshaftPos" which is the variable of the status-struct. Where
is the connection of the class EMC_STAT and the struct emcmotStatus ??

Thanks for your thoughts...

Bernd



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