[pk7639]

So we have our 6 axis puma arm pretty much working. Sorry for the cross post but Arm-o-matic | West Coast Makers

It was actually not that hard.
So far we've managed to get a UI up and we can manipulate each axii. All without having to do any real customising of LinuxCNC. This is tops because we're pretty new to this platform (lots of experience with Mach 3 though)..

So the last piece of the puzzle is programming the robot. We have a config that turns the brakes of and leaves the PWM amps disabled. We can now move the arm to a position and run.

(APPENDLOG, points.txt)
(LOG, X#5420 Y#5421 Z#5422 A#5423 B#5424 C#5425)
(CLOSELOG)
M30

and we get a fie full of points.

Catch is, the points are all the same, because the variables all refer to the commanded axis position, not the feedback position.

Can anyone help with either a different set of variables, or a HAL example of how to map the feedback signal to something we can reference in the LOG call ?

Much appreciated...

PK

[svenakela]

Do you mind if I post it to the emc mailing list?
Ah, wait... too late! I already did!

Awesome robot!

[svenakela]

Andy Pugh replied following at the mailing list:

With Pumakins they would have the option of soldering directly from
the Drill file.

They might also want to try
git.linuxcnc.org Git - linuxcnc.git/blob - src/emc/usr_intf/axis/scripts/teach-in.py
Which appears to create a gui with a "learn" button and write position
data directly to a logfile.