Re: [Emc-users] lineardeltakins and 'World mode' problems
Ok, I got it into World mode and my next issue is I tried to issue the command: G0 Z10 and G0 Z-10 and it gives me an error saying the command would put the axis past its postive limit. It said this 3 times for each axis After homeing the machine and switching to World mode it made X and Y 0.0 but changed Z to -278.00 ? Not sure where it got that value from for Z? I was able to do G0 X10 Y10 before the command above and it seemed to move the 3 axis properly to that position. Its just the Z command isn't moving anything? Here is my ini file in case it helps? [TRAJ] AXES = 4 COORDINATES = X Y Z A MAX_ANGULAR_VELOCITY = 90.00 DEFAULT_ANGULAR_VELOCITY = 45.0 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME =0.010 DEFAULT_VELOCITY = 20.00 POSITION_FILE = position9.txt MAX_LINEAR_VELOCITY = 200.00 [AXIS_0] # # Step timing is 40 us steplen + 40 us stepspace # That gives 80 us step period = 12.5 KHz step freq # TYPE = LINEAR MAX_VELOCITY = 200.0 MAX_ACCELERATION = 3000.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL =240.0 STEPGEN_MAX_ACC =3600.0 BACKLASH = 0.000 SCALE = 100 MIN_LIMIT = -200.0 MAX_LIMIT = 200.0 FERROR = 1.0 MIN_FERROR = 0.25 HOME_OFFSET =0.0 #HOME_SEARCH_VEL =0.0 #HOME_LATCH_VEL = 2.0 #HOME_USE_INDEX = NO #HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD= 200 STEPLEN= 1000 STEPSPACE = 1000 [AXIS_1] TYPE = LINEAR MAX_VELOCITY = 200.0 MAX_ACCELERATION = 3000.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL =240.0 STEPGEN_MAX_ACC =3600.0 BACKLASH = 0.000 SCALE = 100 MIN_LIMIT = -200.0 MAX_LIMIT = 200.0 FERROR = 1.0 MIN_FERROR = 0.25 HOME_OFFSET =0.0 #HOME_SEARCH_VEL =0.0 #HOME_LATCH_VEL = 2.0 #HOME_USE_INDEX = NO #HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD= 200 STEPLEN= 1000 STEPSPACE = 1000 [AXIS_2] TYPE = LINEAR MAX_VELOCITY = 200.0 MAX_ACCELERATION = 3000.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL =240.0 STEPGEN_MAX_ACC =3600.0 BACKLASH = 0.000 SCALE = 100 MIN_LIMIT = -200.0 MAX_LIMIT = 200.0 FERROR = 1.0 MIN_FERROR = 0.25 HOME_OFFSET =0.0 #HOME_SEARCH_VEL =0.0 #HOME_LATCH_VEL = 2.0 #HOME_USE_INDEX = NO #HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD= 200 STEPLEN= 1000 STEPSPACE = 1000 [AXIS_3] TYPE = ANGULAR MAX_VELOCITY = 31.8993189453 MAX_ACCELERATION = 3000.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 37.0 STEPGEN_MAX_ACC = 3750.0 BACKLASH = 0.000 SCALE = -744.530002058 #SCALE = -732.32 MIN_LIMIT = -.0 MAX_LIMIT = 9.0 FERROR = 1.0 MIN_FERROR = .25 HOME = 0.000 HOME_OFFSET = 0.00 #HOME_SEARCH_VEL = 0.0 #HOME_LATCH_VEL =0.0 #HOME_USE_INDEX =NO #HOME_IGNORE_LIMITS =YES HOME_SEQUENCE = 0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD= 200 STEPLEN= 1000 STEPSPACE = 1000 Thanks, Bob -- Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! Discover the easy way to master current and previous Microsoft technologies and advance your career. Get an incredible 1,500+ hours of step-by-step tutorial videos with LearnDevNow. Subscribe today and save! http://pubads.g.doubleclick.net/gampad/clk?id=58040911&iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] lineardeltakins and 'World mode' problems
On 9/3/2013 3:10 PM, Bob Weiss wrote: > Ok, I got it into World mode and my next issue is I tried to issue the > command: G0 Z10 and G0 Z-10 and it gives me an error saying the command > would put the axis past its postive limit. It said this 3 times for each > axis > > After homeing the machine and switching to World mode it made X and Y 0.0 > but changed Z to -278.00 ? Not sure where it got that value from for Z? > > I was able to do G0 X10 Y10 before the command above and it seemed to move > the 3 axis properly to that position. Its just the Z command isn't moving > anything? I don't have much to add, but if you have the time, please take some notes on the issues that give you problems. You're way ahead of me on getting the delta kinematics going, and you are one of the first folks getting into using LinuxCNC with a 3D printer who was not already at least somewhat familiar with CNC controls (LinuxCNC or others). Your experiences and impressions will help make it easier for other new users. Even if you don't have time to do a full write up, if you send me your "gotchas", I'll at least make a FAQ or "watch out for..." page on my blog. Thanks! Oh...and remember: http://www.despair.com/mistakes.html :) -- Charles Steinkuehler char...@steinkuehler.net signature.asc Description: OpenPGP digital signature -- Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! Discover the easy way to master current and previous Microsoft technologies and advance your career. Get an incredible 1,500+ hours of step-by-step tutorial videos with LearnDevNow. Subscribe today and save! http://pubads.g.doubleclick.net/gampad/clk?id=58040911&iu=/4140/ostg.clktrk___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] lineardeltakins and 'World mode' problems
On 3 September 2013 21:10, Bob Weiss wrote: > Ok, I got it into World mode and my next issue is I tried to issue the > command: G0 Z10 and G0 Z-10 and it gives me an error saying the command > would put the axis past its postive limit. It said this 3 times for each > axis Can you jog the Z axis at all? You probably need to touch-off the Z axis tom somewhere inside the machine bounds. If you are using the Axis GUI you can see the machine bounding-box in the graphical display as red dotted lines. And, also, if you are in the Axis GUI you have a "touch" off button that lets you tell the machine where is is. The problem is that it thinks that Z is at -278, so a move to +10 or even -10 involves a 300mm move, which I am guessing may be longer than your axes. Tell it that it is already at 0, then the G0 Z10 is only a 10mm move. -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! Discover the easy way to master current and previous Microsoft technologies and advance your career. Get an incredible 1,500+ hours of step-by-step tutorial videos with LearnDevNow. Subscribe today and save! http://pubads.g.doubleclick.net/gampad/clk?id=58040911&iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] lineardeltakins and 'World mode' problems
Change tour model so it can have an offset for the joint coordinates. Then give an arbitrary value to your offset so that z gets a value inside the working limits. I think this will work. If after this you get a following error, ask again :). Javier El 03/09/2013 23:09, "Charles Steinkuehler" escribió: > On 9/3/2013 3:10 PM, Bob Weiss wrote: > > Ok, I got it into World mode and my next issue is I tried to issue the > > command: G0 Z10 and G0 Z-10 and it gives me an error saying the command > > would put the axis past its postive limit. It said this 3 times for each > > axis > > > > After homeing the machine and switching to World mode it made X and Y 0.0 > > but changed Z to -278.00 ? Not sure where it got that value from for Z? > > > > I was able to do G0 X10 Y10 before the command above and it seemed to > move > > the 3 axis properly to that position. Its just the Z command isn't moving > > anything? > > I don't have much to add, but if you have the time, please take some > notes on the issues that give you problems. > > You're way ahead of me on getting the delta kinematics going, and you > are one of the first folks getting into using LinuxCNC with a 3D printer > who was not already at least somewhat familiar with CNC controls > (LinuxCNC or others). > > Your experiences and impressions will help make it easier for other new > users. Even if you don't have time to do a full write up, if you send > me your "gotchas", I'll at least make a FAQ or "watch out for..." page > on my blog. > > Thanks! > > Oh...and remember: > > http://www.despair.com/mistakes.html > > :) > > -- > Charles Steinkuehler > char...@steinkuehler.net > > > > -- > Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! > Discover the easy way to master current and previous Microsoft technologies > and advance your career. Get an incredible 1,500+ hours of step-by-step > tutorial videos with LearnDevNow. Subscribe today and save! > http://pubads.g.doubleclick.net/gampad/clk?id=58040911&iu=/4140/ostg.clktrk > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > > -- Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! Discover the easy way to master current and previous Microsoft technologies and advance your career. Get an incredible 1,500+ hours of step-by-step tutorial videos with LearnDevNow. Subscribe today and save! http://pubads.g.doubleclick.net/gampad/clk?id=58040911&iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] lineardeltakins and 'World mode' problems
2013/9/3 Bob Weiss > > After homeing the machine and switching to World mode it made X and Y 0.0 > but changed Z to -278.00 ? Not sure where it got that value from for Z? > Are those machine or relative coordinates? Currently it seems that Andy is right - you see relative (workpiece) coordinates so simply do "touch off" for Z axis. Ideally for testing purposes you might want to set workpiece and machine coordinates to be the same. You can switch Axis GUI to show either machine or relative coordinates with Shift+3 combination to see, what is the difference between them. In MDI you can also command a movement in machine coordinate system by adding G53 before G0 word. This is one more thing you can use for testing. It looks to me that there are few things for you to learn about all these various coordinate system things, so here is a link for a start: http://wiki.linuxcnc.org/cgi-bin/wiki.pl?CoordinateSystems -- Viesturs -- Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! Discover the easy way to master current and previous Microsoft technologies and advance your career. Get an incredible 1,500+ hours of step-by-step tutorial videos with LearnDevNow. Subscribe today and save! http://pubads.g.doubleclick.net/gampad/clk?id=58040911&iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] lineardeltakins and 'World mode' problems
On Wed, Sep 4, 2013 at 10:22 AM, wrote: > Re: lineardeltakins and 'World mode' problems (Javier Ros) "Change tour model so it can have an offset for the joint coordinates. Then give an arbitrary value to your offset so that z gets a value inside the working limits." Javier: Thank you for the information! Can I ask you to explain a little more? What do you mean by change model so it can offset for the joint coordinates? Can you give me an example for this? What would I change the INI file settings or in Axis GUI itself? Bob -- Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! Discover the easy way to master current and previous Microsoft technologies and advance your career. Get an incredible 1,500+ hours of step-by-step tutorial videos with LearnDevNow. Subscribe today and save! http://pubads.g.doubleclick.net/gampad/clk?id=58040911&iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] lineardeltakins and 'World mode' problems
On Wed, Sep 4, 2013 at 12:57 PM, wrote: > Re: lineardeltakins and 'World mode' problems (Viesturs L?cis) "Are those machine or relative coordinates? Currently it seems that Andy is right - you see relative (workpiece) coordinates so simply do "touch off" for Z axis. Ideally for testing purposes you might want to set workpiece and machine coordinates to be the same. You can switch Axis GUI to show either machine or relative coordinates with Shift+3 combination to see, what is the difference between them. In MDI you can also command a movement in machine coordinate system by adding G53 before G0 word. This is one more thing you can use for testing. It looks to me that there are few things for you to learn about all these various coordinate system things, so here is a link for a start: http://wiki.linuxcnc.org/cgi-bin/wiki.pl?CoordinateSystems " A fter reading t he above link you offered that answered alot of questions in one short page!! I am not sure which coordinates they are to be honest, but since that page said the default coordinates are G54 on startup then I would think that they are relative. I understand how the coordinate systems are working in LCNC now and alot less confused :) I am going touch off the Z axis to 0 to bring it under the machine limit of 200/-200 in the INI file and see if I can move all 3 joints up and down like it's supposed to move. If this works out then I know the kinematics are working as planned and then I can set up the actual machine coordinates and limits to my actual machine boundaries and go from there. Its been so long since I've last used a CNC machine (home built back in 2005/6 using Mach3) and really did everything in machine coordinates on that since I was only cutting wood objects 1 at a time. I can see how powerful LCNC is now and the possibilities are endless with its G/M Codes. Thank you very much for the help! Bob -- Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! Discover the easy way to master current and previous Microsoft technologies and advance your career. Get an incredible 1,500+ hours of step-by-step tutorial videos with LearnDevNow. Subscribe today and save! http://pubads.g.doubleclick.net/gampad/clk?id=58040911&iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] lineardeltakins and 'World mode' problems
A simple aproach may be to change the kinematics code so that you add Z0 to the value you compute now for Z in the direct ( world coord obtained from joint coord) model, and substract the same Z0 to J1 J2 J3 (joint coordinates) in the inverse (joint coordinates from world coordinates) model. I can elaborate more if you find difficult to follow me. You can privetely send me the kinematic module so I can be more specific. LCNC can work only with the inverse model so you can deactivate the direct model at least to debug, direct model is used only to display the actual world coordinates (suposing your direct model is correct). Now speaking form memory (years ago): Note that when homing is done joint coordinates will be reset again (to he HOME_OFFSET value specified in init), and then your direct model shoud give meaningfull values (for those HOME_OFFSET values) and within your allowabe region in world coordinates. That is your model (in particular the ones I am speaking about) is dependent on your specification of the homing sequence (HOME_OFFSET value on INI file) and should be coherent with the limits tou put in working region in world coordinates (I think this is specified as well in the INI) Hope this helps, Javier On Wed, Sep 4, 2013 at 5:31 PM, Bob Weiss wrote: > On Wed, Sep 4, 2013 at 10:22 AM, >wrote: > > > Re: lineardeltakins and 'World mode' problems (Javier Ros) > > > "Change tour model so it can have an offset for the joint coordinates. Then > give an arbitrary value to your offset so that z gets a value inside the > working limits." > > > Javier: > > Thank you for the information! Can I ask you to explain a little more? What > do you mean by change model so it can offset for the joint coordinates? Can > you give me an example for this? What would I change the INI file settings > or in Axis GUI itself? > > Bob > > -- > Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! > Discover the easy way to master current and previous Microsoft technologies > and advance your career. Get an incredible 1,500+ hours of step-by-step > tutorial videos with LearnDevNow. Subscribe today and save! > http://pubads.g.doubleclick.net/gampad/clk?id=58040911&iu=/4140/ostg.clktrk > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > -- Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! Discover the easy way to master current and previous Microsoft technologies and advance your career. Get an incredible 1,500+ hours of step-by-step tutorial videos with LearnDevNow. Subscribe today and save! http://pubads.g.doubleclick.net/gampad/clk?id=58041391&iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
