Re: 6 axes

["Till Franitza" <xfa-at-isw.uni-stuttgart.de>]

Ray and all,
so, is this correct: the emc is ready to interpolate 6 Axes and give
impulses to the 6 Steppers? (I already have them connected to the Parallel
port in the described way)
Is the only problem to control the a,b,c Axes on the Interpreter and motion
planning side?
So could I operate a 6-DOF Parallelkinematics-Machine in a 3-DOF-Manner by
using 6 Steppers with (q1...q6)=f(x,y,z)?
That would be fine, for the Beginning.
Till


-----Ursprüngliche Nachricht-----
Von: Ray Henry <rehenry-at-up.net>
An: Multiple recipients of list <emc-at-nist.gov>
Datum: Sonntag, 16. Januar 2000 21:24
Betreff: Re: 6 axes


>
>Till
>
>As far as 6dof, I think that EMC is only ready to think about more than
>3dof for what is called a Stuart platform. (hexapod) Fred's recent post
>suggested that they needed to do quite a bit of work on the motion planning
>files before we could set up a,b,c as rotated around their respective axis.
>
>I saw the big hexapod when I was at NIST this spring.  It's awesome.  I
>also read the posts you saw that talked a bit about the tabletop model that
>NIST used for a textbed this summer.  If I remember correctly, they used
>cables of some sort to hang the spindle on.
>
>I don't know how to set up the whole emc for it but you should read these
>files.  They have the kinematics that are involved in Stuart platforms.
>They should give you some idea of the range of the joint variables that you
>can build into your machine.
>
> emc/src/genhexkins.c
> emc/src/genhexkins.h
>
>The stuff necessary to make the motion control files for it are in the make
>file in the same directory but I have no clue what they mean.  I can barely
>read it and don't understand it at all.  Fred can give us a description on
>how to compile an EMC for a hexapod.
>
>There are six sets of stepper signals on the parallel port so that would be
>easy.  I thought that there was a description of which pins were which on
>the emcsoft page but didn't see it there the last time I visited.  My list
>shows:
>
> DB25 Cent Signal
> 1 1 mot-4 dir
> 14 14 mot-4 clock
> 2 2 mot-0 dir
> 3 3 mot-0 clock
> 4 4 mot-1 dir
> 5 5 mot-1 clock
> 6 6 mot-2 dir
> 7 7 mot-2 clock
> 8 8 mot-3 dir
> 9 9 mot-3 clock
> 16 31 mot-5 dir
> 17 36 mot-5 clock
>
>You'll need to define the six axis in the ini file.  I believe that they
>will all be linear and use common measurements.
>
>You can also use the yemc gui directly to display six axis.  I'd suggest
>that you modify the text size as I detailed in my recent post. (this should
>be up in the cookbook in a couple days.)  Or I think that I can modify the
>tkemc to show the same six axis display.
>
>The next to last part that would have to be there is the RS274NGC
>interpreter and Tom Kramer said that he'd have something ready in a month
>or so.
>
>The last part would be to learn how to program the monster to make good
>pieces!
>
>Ray
>
>
>At 01:00 PM 1/16/2000 -0500, till sprach:
>>Hi all!
>>I just found an Article about a NIST Hexapod wit 6 Axes. The Article is
old,
>>but they planned to use the EMC Controller. This reminded me to the fact
>>that there was another Hexapod somewhere on the Homepages of NIST that WAS
>>running with emc. At least it seemed so. The transformations are also
there.
>>So is it just a job of search and not research to make 6 Axes work? I
>>soldered myself a card for 6 Steppers an i am planning to build a
>>6DOF-Mechanism.
>
>
>
>