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Wang Dequan
3
configs/sim/axis/vismach/melfa-sim/README
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3
configs/sim/axis/vismach/melfa-sim/README
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This is modelled on a Mitsubishi RV6-SDL serial manipulator. A tutorial on how the required modified-DH-parameters were derived for this robot is available in the linuxcnc documentation.
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Note that due to "gimbal lock" it is normal that the inverse kinematic fails when moving near such a singular point while in cartesian mode (ie genserkins). To move across such points it is necessary to switch from cartesian to joint (trivial) kinematics.
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93
configs/sim/axis/vismach/melfa-sim/example.ngc
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93
configs/sim/axis/vismach/melfa-sim/example.ngc
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(Preamble)
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G90 G64 P0.1 Q1
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(Switch to Joint mode trivial kinematics)
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M429
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(When using "Joint" mode we need to make sure that)
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(the offsets are set correctly for the pose we used)
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(when we set up the Modified DH-Parameters for the )
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("genserkins" kinematic where we cannot define 'Theta')
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(-values.)
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("M429" sets offsets to "G59.2" and resets those)
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(to "G10 L2 P8 X0 Y-90 Z0 A0 B0 C0" so we match the DH-)
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(Parameter model used in the genserkins kinematics)
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(Note that this pose leaves Joint_3 and Joint_5 collinear)
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(and that will cause the inverse kinematics to fail so we)
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(need to make sure that the wrist does not start out at)
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(zero degrees.)
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(Note that we also change speed settings through HAL when)
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(we switch kinematics)
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(Set the start pose to make sure the kinematics can handle it)
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G01 X0 Y0 Z0 A0 B0 C0 F1000
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(Switch to Coordinated, i.e. cartesian, world mode)
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M428
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("M428" sets offsets to "G59.1" and resets those)
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(to "G10 L2 P7 X0 Y0 Z0 A0 B0 C0")
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(Origin is at bottom center of the robot base)
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(So to use other, nonzero, offsets we need to declare after)
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(each switch of the kinematics)
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G0 X450 Y200 Z350 B10 C45
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(Draw a cube of 150mm)
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G91
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G0 Y150
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X150
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Y-150
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X-150
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Z150
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Y150
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Z-150
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Z150
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X150
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Z-150
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Z150
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Y-150
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Z-150
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Z150
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X-150
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(Switch to Joint mode trivial kinematics)
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M429
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(Go different pose)
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G90
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G0 X90 Y0 Z0 A0
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(Switch to Coordinated, i.e. cartesian, world mode)
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M428
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(Draw a cube of 150mm)
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G91
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G0
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Z-150
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Y150
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X150
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Y-150
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X-150
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Z150
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Y150
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Z-150
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Z150
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X150
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Z-150
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Z150
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Y-150
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Z-150
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Z150
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X-150
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(Switch to Joint mode trivial kinematics)
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M429
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(Go to start pose)
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G90
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G0 X0 Y0 Z0 A0
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M2
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618
configs/sim/axis/vismach/melfa-sim/link1.stl
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618
configs/sim/axis/vismach/melfa-sim/link1.stl
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2004
configs/sim/axis/vismach/melfa-sim/link2.stl
Normal file
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Normal file
File diff suppressed because it is too large
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1458
configs/sim/axis/vismach/melfa-sim/link3.stl
Normal file
1458
configs/sim/axis/vismach/melfa-sim/link3.stl
Normal file
File diff suppressed because it is too large
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1290
configs/sim/axis/vismach/melfa-sim/link4.stl
Normal file
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configs/sim/axis/vismach/melfa-sim/link4.stl
Normal file
File diff suppressed because it is too large
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814
configs/sim/axis/vismach/melfa-sim/link5.stl
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vertex 1.794004e+01 6.000000e+01 4.139418e+01
|
||||
vertex 6.130987e+00 6.000000e+01 4.469601e+01
|
||||
vertex 1.794004e+01 3.500000e+01 4.139418e+01
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 2.692739e-01 0.000000e+00 9.630636e-01
|
||||
outer loop
|
||||
vertex 6.130987e+00 6.000000e+01 4.469601e+01
|
||||
vertex 6.130987e+00 3.500000e+01 4.469601e+01
|
||||
vertex 1.794004e+01 3.500000e+01 4.139418e+01
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 0.000000e+00 1.000000e+00
|
||||
outer loop
|
||||
vertex 6.130987e+00 3.500000e+01 4.469601e+01
|
||||
vertex -6.130987e+00 6.000000e+01 4.469601e+01
|
||||
vertex -6.130987e+00 3.500000e+01 4.469601e+01
|
||||
endloop
|
||||
endfacet
|
||||
facet normal -2.692739e-01 0.000000e+00 9.630636e-01
|
||||
outer loop
|
||||
vertex -6.130987e+00 6.000000e+01 4.469601e+01
|
||||
vertex -1.794004e+01 6.000000e+01 4.139418e+01
|
||||
vertex -6.130987e+00 3.500000e+01 4.469601e+01
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 0.000000e+00 1.000000e+00
|
||||
outer loop
|
||||
vertex 6.130987e+00 6.000000e+01 4.469601e+01
|
||||
vertex -6.130987e+00 6.000000e+01 4.469601e+01
|
||||
vertex 6.130987e+00 3.500000e+01 4.469601e+01
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex 6.000000e+01 6.000000e+01 -2.068804e+02
|
||||
vertex 6.000000e+01 6.000000e+01 -3.217871e+02
|
||||
vertex -6.000000e+01 6.000000e+01 -3.217871e+02
|
||||
endloop
|
||||
endfacet
|
||||
facet normal -0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex -6.000000e+01 6.000000e+01 -2.068804e+02
|
||||
vertex 6.000000e+01 6.000000e+01 -2.068804e+02
|
||||
vertex -6.000000e+01 6.000000e+01 -3.217871e+02
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex 4.500000e+01 6.000000e+01 3.212847e+00
|
||||
vertex 6.000000e+01 6.000000e+01 -2.068804e+02
|
||||
vertex -6.000000e+01 6.000000e+01 -2.068804e+02
|
||||
endloop
|
||||
endfacet
|
||||
facet normal -0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex -4.500000e+01 6.000000e+01 3.212847e+00
|
||||
vertex 4.500000e+01 6.000000e+01 3.212847e+00
|
||||
vertex -6.000000e+01 6.000000e+01 -2.068804e+02
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex -4.247271e+01 6.000000e+01 1.521156e+01
|
||||
vertex 4.500000e+01 6.000000e+01 3.212847e+00
|
||||
vertex -4.500000e+01 6.000000e+01 3.212847e+00
|
||||
endloop
|
||||
endfacet
|
||||
facet normal -0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex -4.247271e+01 6.000000e+01 1.521156e+01
|
||||
vertex -3.680782e+01 6.000000e+01 2.608652e+01
|
||||
vertex 4.500000e+01 6.000000e+01 3.212847e+00
|
||||
endloop
|
||||
endfacet
|
||||
facet normal -0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex -3.680782e+01 6.000000e+01 2.608652e+01
|
||||
vertex -2.842381e+01 6.000000e+01 3.503440e+01
|
||||
vertex 4.500000e+01 6.000000e+01 3.212847e+00
|
||||
endloop
|
||||
endfacet
|
||||
facet normal -0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex -2.842381e+01 6.000000e+01 3.503440e+01
|
||||
vertex -1.794004e+01 6.000000e+01 4.139418e+01
|
||||
vertex 4.500000e+01 6.000000e+01 3.212847e+00
|
||||
endloop
|
||||
endfacet
|
||||
facet normal -0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex -1.794004e+01 6.000000e+01 4.139418e+01
|
||||
vertex -6.130987e+00 6.000000e+01 4.469601e+01
|
||||
vertex 4.500000e+01 6.000000e+01 3.212847e+00
|
||||
endloop
|
||||
endfacet
|
||||
facet normal -0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex -6.130987e+00 6.000000e+01 4.469601e+01
|
||||
vertex 6.130987e+00 6.000000e+01 4.469601e+01
|
||||
vertex 4.500000e+01 6.000000e+01 3.212847e+00
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex 6.130987e+00 6.000000e+01 4.469601e+01
|
||||
vertex 4.247271e+01 6.000000e+01 1.521156e+01
|
||||
vertex 4.500000e+01 6.000000e+01 3.212847e+00
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex 6.130987e+00 6.000000e+01 4.469601e+01
|
||||
vertex 3.680782e+01 6.000000e+01 2.608652e+01
|
||||
vertex 4.247271e+01 6.000000e+01 1.521156e+01
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex 6.130987e+00 6.000000e+01 4.469601e+01
|
||||
vertex 2.842381e+01 6.000000e+01 3.503440e+01
|
||||
vertex 3.680782e+01 6.000000e+01 2.608652e+01
|
||||
endloop
|
||||
endfacet
|
||||
facet normal 0.000000e+00 1.000000e+00 0.000000e+00
|
||||
outer loop
|
||||
vertex 6.130987e+00 6.000000e+01 4.469601e+01
|
||||
vertex 1.794004e+01 6.000000e+01 4.139418e+01
|
||||
vertex 2.842381e+01 6.000000e+01 3.503440e+01
|
||||
endloop
|
||||
endfacet
|
||||
endsolid
|
||||
2942
configs/sim/axis/vismach/melfa-sim/link6.stl
Normal file
2942
configs/sim/axis/vismach/melfa-sim/link6.stl
Normal file
File diff suppressed because it is too large
Load Diff
1598
configs/sim/axis/vismach/melfa-sim/link7.stl
Normal file
1598
configs/sim/axis/vismach/melfa-sim/link7.stl
Normal file
File diff suppressed because it is too large
Load Diff
14
configs/sim/axis/vismach/melfa-sim/melfa-postgui.hal
Normal file
14
configs/sim/axis/vismach/melfa-sim/melfa-postgui.hal
Normal file
@@ -0,0 +1,14 @@
|
||||
net j0 joint.0.pos-fb melfagui.joint1
|
||||
net j1 joint.1.pos-fb melfagui.joint2
|
||||
net j2 joint.2.pos-fb melfagui.joint3
|
||||
net j3 joint.3.pos-fb melfagui.joint4
|
||||
net j4 joint.4.pos-fb melfagui.joint5
|
||||
net j5 joint.5.pos-fb melfagui.joint6
|
||||
|
||||
net :identity-button <= pyvcp.identity-button => halui.mdi-command-00
|
||||
net :genserkins-button <= pyvcp.genserkins-button => halui.mdi-command-01
|
||||
|
||||
net :kinstype.is-0 <= kinstype.is-0 => pyvcp.multilabel.0.legend0
|
||||
net :kinstype.is-1 <= kinstype.is-1 => pyvcp.multilabel.0.legend1
|
||||
|
||||
net :vismach-clear <= pyvcp.vismach-clear => vismach.plotclear
|
||||
143
configs/sim/axis/vismach/melfa-sim/melfa.ini
Normal file
143
configs/sim/axis/vismach/melfa-sim/melfa.ini
Normal file
@@ -0,0 +1,143 @@
|
||||
[EMC]
|
||||
VERSION = 1.1
|
||||
MACHINE = melfa (mm)
|
||||
DEBUG = 0
|
||||
|
||||
[KINS]
|
||||
KINEMATICS= genserkins
|
||||
JOINTS= 6
|
||||
|
||||
[HAL]
|
||||
HALUI = halui
|
||||
HALFILE = LIB:basic_sim.tcl
|
||||
HALFILE = melfa_dh.hal
|
||||
HALCMD = loadusr -W melfagui
|
||||
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
|
||||
POSTGUI_HALFILE = melfa-postgui.hal
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = melfa.var
|
||||
SUBROUTINE_PATH = ./remap_subs
|
||||
HAL_PIN_VARS = 1
|
||||
REMAP = M428 modalgroup=10 ngc=428remap
|
||||
REMAP = M429 modalgroup=10 ngc=429remap
|
||||
REMAP = M430 modalgroup=10 ngc=430remap
|
||||
RS274NGC_STARTUP_CODE = G10 L2 P7 X0 Y0 Z0 A-180 B0 C0 G59.1 (debug, ini: startup offsets)
|
||||
|
||||
[HALUI]
|
||||
MDI_COMMAND = M429
|
||||
MDI_COMMAND = M428
|
||||
MDI_COMMAND = M430
|
||||
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = axis
|
||||
GEOMETRY = XYZABC
|
||||
CYCLE_TIME = 0.200
|
||||
POSITION_OFFSET = RELATIVE
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
DEFAULT_LINEAR_VELOCITY = 60.0
|
||||
DEFAULT_ANGULAR_VELOCITY = 40.0
|
||||
MAX_FEED_OVERRIDE = 2.0
|
||||
PROGRAM_PREFIX = ./
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
PYVCP = melfa.xml
|
||||
EDITOR = geany
|
||||
OPEN_FILE = example.ngc
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.010
|
||||
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Y Z A B C
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = deg
|
||||
DEFAULT_LINEAR_VELOCITY = 60.0
|
||||
DEFAULT_ANGULAR_VELOCITY = 60.0
|
||||
MAX_LINEAR_VELOCITY = 200.0
|
||||
MAX_ANGULAR_VELOCITY = 100.0
|
||||
DEFAULT_LINEAR_ACCELERATION = 200.0
|
||||
MAX_LINEAR_ACCELERATION = 400.0
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = melfa.tbl
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = ANGULAR
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 400.0
|
||||
MIN_LIMIT = -170.0
|
||||
MAX_LIMIT = 170.0
|
||||
HOME_SEQUENCE = 0
|
||||
HOME_OFFSET = 0
|
||||
HOME = 0
|
||||
[JOINT_1]
|
||||
TYPE = ANGULAR
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 400.0
|
||||
MIN_LIMIT = -182.0
|
||||
MAX_LIMIT = 45.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 0
|
||||
HOME = -90.001
|
||||
[JOINT_2]
|
||||
TYPE = ANGULAR
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 400.0
|
||||
MIN_LIMIT = -219.0
|
||||
MAX_LIMIT = 76.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 0
|
||||
HOME = 0.001
|
||||
[JOINT_3]
|
||||
TYPE = ANGULAR
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 400.0
|
||||
MIN_LIMIT = -160.0
|
||||
MAX_LIMIT = 160.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 0
|
||||
HOME = 0.001
|
||||
[JOINT_4]
|
||||
TYPE = ANGULAR
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 400.0
|
||||
MIN_LIMIT = -120.0
|
||||
MAX_LIMIT = 120.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 0
|
||||
HOME = 90.001
|
||||
[JOINT_5]
|
||||
TYPE = ANGULAR
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 400.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEQUENCE = 0
|
||||
HOME = 0.001
|
||||
|
||||
[AXIS_X]
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 400.0
|
||||
[AXIS_Y]
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 400.0
|
||||
[AXIS_Z]
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 400.0
|
||||
[AXIS_A]
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 400.0
|
||||
[AXIS_B]
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 400.0
|
||||
[AXIS_C]
|
||||
MAX_VELOCITY = 60.0
|
||||
MAX_ACCELERATION = 400.0
|
||||
4
configs/sim/axis/vismach/melfa-sim/melfa.tbl
Normal file
4
configs/sim/axis/vismach/melfa-sim/melfa.tbl
Normal file
@@ -0,0 +1,4 @@
|
||||
T1 P1 Z100 D0.125 ;1/8 end mill
|
||||
T2 P2 Z0.1 D0.0625 ;1/16 end mill
|
||||
T3 P3 Z1.273 D0.201 ;#7 tap drill
|
||||
T99999 P99999 Z0.1 ;big tool number
|
||||
44
configs/sim/axis/vismach/melfa-sim/melfa.txt
Normal file
44
configs/sim/axis/vismach/melfa-sim/melfa.txt
Normal file
@@ -0,0 +1,44 @@
|
||||
melfa-switchkins usage:
|
||||
|
||||
1) startup (after homing) is in
|
||||
genserkins mode configured like
|
||||
melfa-switchkins.ini as an mm-based machine
|
||||
with 6 revolute joints.
|
||||
|
||||
2) pyvcp buttons are provided to switch
|
||||
between genserkins and identity
|
||||
kinematics. The buttons issue remapped
|
||||
commands M428,M429. These commands a)
|
||||
set the motion.switchkins-type pin and
|
||||
b) force a synchronization using a
|
||||
motion input read command.
|
||||
|
||||
3) when set for identity kins, default
|
||||
assignments are:
|
||||
|
||||
x : joint0
|
||||
y : joint1
|
||||
z : joint2
|
||||
a : joint3
|
||||
b : joint4
|
||||
c : joint5
|
||||
so the gcode commands:
|
||||
'g0x10' moves joint0
|
||||
'g0c10' moves joint5
|
||||
|
||||
4) the ordering can be altered using the
|
||||
genser-switchkins kinematics module
|
||||
parameter 'coordinates'. For example,
|
||||
|
||||
KINEMATICS=genser-switchkins coordinates=abcxyz
|
||||
|
||||
assigns:
|
||||
a : joint0
|
||||
b : joint1
|
||||
c : joint2
|
||||
x : joint3
|
||||
y : joint4
|
||||
z : joint5
|
||||
so the gcode commands:
|
||||
'g0x10' moves joint3
|
||||
'g0c10' moves joint2
|
||||
43
configs/sim/axis/vismach/melfa-sim/melfa.xml
Normal file
43
configs/sim/axis/vismach/melfa-sim/melfa.xml
Normal file
@@ -0,0 +1,43 @@
|
||||
<?xml version='1.0' encoding='UTF-8'?>
|
||||
<pyvcp>
|
||||
|
||||
<vbox>
|
||||
<relief>"ridge"</relief>
|
||||
<bd>5</bd>
|
||||
<label>
|
||||
<text>"RV-6SDL"</text>
|
||||
<relief>RIDGE</relief>
|
||||
<bd>3</bd>
|
||||
</label>
|
||||
<multilabel>
|
||||
<legends>["WORLD COORD", "JOINT COORD"]</legends>
|
||||
<font>("DejaVu Sans Mono",16)</font>
|
||||
<bg>"black"</bg>
|
||||
<fg>"yellow"</fg>
|
||||
</multilabel>
|
||||
<button>
|
||||
<halpin>"genserkins-button"</halpin>
|
||||
<text>"World Coord"</text>
|
||||
<bd>3</bd>
|
||||
</button>
|
||||
<button>
|
||||
<halpin>"identity-button"</halpin>
|
||||
<text>"Joint Coord"</text>
|
||||
<bd>3</bd>
|
||||
</button>
|
||||
</vbox>
|
||||
<vbox>
|
||||
<relief>"ridge"</relief>
|
||||
<bd>5</bd>
|
||||
<label>
|
||||
<text>"Vismach"</text>
|
||||
<relief>RIDGE</relief>
|
||||
<bd>3</bd>
|
||||
</label>
|
||||
<button>
|
||||
<halpin>"vismach-clear"</halpin>
|
||||
<text>"Clear Path"</text>
|
||||
<bd>3</bd>
|
||||
</button>
|
||||
</vbox>
|
||||
</pyvcp>
|
||||
26
configs/sim/axis/vismach/melfa-sim/melfa_dh.hal
Normal file
26
configs/sim/axis/vismach/melfa-sim/melfa_dh.hal
Normal file
@@ -0,0 +1,26 @@
|
||||
# modified DH-parameters for RV-6SDL
|
||||
|
||||
setp genserkins.A-0 0
|
||||
setp genserkins.A-1 85
|
||||
setp genserkins.A-2 380
|
||||
setp genserkins.A-3 100
|
||||
setp genserkins.A-4 0
|
||||
setp genserkins.A-5 0
|
||||
|
||||
setp genserkins.ALPHA-0 0
|
||||
setp genserkins.ALPHA-1 -1.570796326
|
||||
setp genserkins.ALPHA-2 0
|
||||
setp genserkins.ALPHA-3 -1.570796326
|
||||
setp genserkins.ALPHA-4 1.570796326
|
||||
setp genserkins.ALPHA-5 -1.570796326
|
||||
|
||||
setp genserkins.D-0 350
|
||||
setp genserkins.D-1 0
|
||||
setp genserkins.D-2 0
|
||||
setp genserkins.D-3 425
|
||||
setp genserkins.D-4 0
|
||||
# 85 for Handflange as in the tutorial
|
||||
#setp genserkins.D-5 85
|
||||
# 85 + 150 for toolholder and tool as in the vismach simulation
|
||||
setp genserkins.D-5 235
|
||||
|
||||
28
configs/sim/axis/vismach/melfa-sim/remap_subs/428remap.ngc
Normal file
28
configs/sim/axis/vismach/melfa-sim/remap_subs/428remap.ngc
Normal file
@@ -0,0 +1,28 @@
|
||||
;M428 by remap: select genserkins
|
||||
o<428remap>sub
|
||||
#<SWITCHKINS_PIN> = 3 ; set N as required: motion.analog-out-0N
|
||||
#<kinstype> = 0 ; genserkins
|
||||
|
||||
o1 if [exists [#<_hal[motion.switchkins-type]>]]
|
||||
o1 else
|
||||
(debug,M428:Missing [RS274NGC]FEATURE==8)
|
||||
(debug,STOP)
|
||||
M2
|
||||
o1 endif
|
||||
|
||||
M66 E0 L0 ; force synch
|
||||
M68 E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
|
||||
G10 L2 P7 X0 Y0 Z0 A-180 B0 C0
|
||||
G59.1
|
||||
M66 E0 L0 ; force synch
|
||||
; (debug, M428:genserkins)
|
||||
|
||||
o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE 0]]
|
||||
(debug,M428: Wrong motion.switchkins-type)
|
||||
(debug,or missing hal net to analog-out-0x)
|
||||
(debug,STOP)
|
||||
M2
|
||||
o2 else
|
||||
o2 endif
|
||||
|
||||
o<428remap>endsub
|
||||
28
configs/sim/axis/vismach/melfa-sim/remap_subs/429remap.ngc
Normal file
28
configs/sim/axis/vismach/melfa-sim/remap_subs/429remap.ngc
Normal file
@@ -0,0 +1,28 @@
|
||||
;M429 by remap: select identity kins
|
||||
o<429remap>sub
|
||||
#<SWITCHKINS_PIN> = 3 ; set N as required: motion.analog-out-0N
|
||||
#<kinstype> = 1 ; identity kins
|
||||
|
||||
o1 if [exists [#<_hal[motion.switchkins-type]>]]
|
||||
o1 else
|
||||
(debug,M429:Missing [RS274NGC]FEATURE==8)
|
||||
(debug,STOP)
|
||||
M2
|
||||
o1 endif
|
||||
|
||||
M66 E0 L0 ; force synch
|
||||
M68 E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
|
||||
G10 L2 P8 X0 Y-90 Z0 A0 B90 C0
|
||||
G59.2
|
||||
M66 E0 L0 ; force synch
|
||||
; (debug, M429:identity kins)
|
||||
|
||||
o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE 1]]
|
||||
(debug,M429:Wrong motion.switchkins-type)
|
||||
(debug,or missing hal net to analog-out-0x)
|
||||
(debug,STOP)
|
||||
M2
|
||||
o2 else
|
||||
o2 endif
|
||||
|
||||
o<429remap>endsub
|
||||
26
configs/sim/axis/vismach/melfa-sim/remap_subs/430remap.ngc
Normal file
26
configs/sim/axis/vismach/melfa-sim/remap_subs/430remap.ngc
Normal file
@@ -0,0 +1,26 @@
|
||||
;M430 by remap: select gensertool kins
|
||||
o<430remap>sub
|
||||
#<SWITCHKINS_PIN> = 3 ; set N as required: motion.analog-out-0N
|
||||
#<kinstype> = 2 ; gensertool kins
|
||||
|
||||
o1 if [exists [#<_hal[motion.switchkins-type]>]]
|
||||
o1 else
|
||||
(debug,M430:Missing [RS274NGC]FEATURE==8)
|
||||
(debug,STOP)
|
||||
M2
|
||||
o1 endif
|
||||
|
||||
M66 E0 L0 ; force synch
|
||||
M68 E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
|
||||
M66 E0 L0 ; force synch
|
||||
; (debug, M429:identity kins)
|
||||
|
||||
o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE 2]]
|
||||
(debug,M430:Wrong motion.switchkins-type)
|
||||
(debug,or missing hal net to analog-out-0x)
|
||||
(debug,STOP)
|
||||
M2
|
||||
o2 else
|
||||
o2 endif
|
||||
|
||||
o<430remap>endsub
|
||||
Reference in New Issue
Block a user