thanks, NC subprograms and tangential axis

[Max Heise <mahemt01-at-fht-esslingen.de>]

Hi Everybody,

first thanks go out to Jon Elson for his reply on April, 12th.

My Machine is now running fine for about 2 weeks.

The problem was a incorrect connected amp fault.

What finally did help me was Fred's "Why can't I come out of estop? and,
parallel port debugger, Fri Mar 3 16:07:13 2000"
<quote>
... just how many things affect estop. Aside from stupid things like wrong
parallel portor motion board addresses, they are:

input from amp fault
input from positive hardware limit switch
input from negative hardware limit switch
positive software limit
negative software limit
input from estop sense

Only the pos/neg hard/soft limits turn the position digits red. Amp
fault never shows up anywhere, so if you have this set wrong in your
.ini file, you'll never know it.

</quote>
and the following part from Will Shackleford's "Re: Several questions  (Will
Shackleford, Mon Mar 13 19:29:36 2000)"
<quote>
Unfortunately there are a lot of reasons for not being able to come out of 
estop. Ussually I start to look for the reason by running 
plat/linux_2_2_13/bin/usrmot -ini mymachine.ini 

And entering "show flags" to see most of the flags that might prevent you from 
coming out of estop.
</quote>
I think this should be added to linuxcnc.org.


My next questions are:
1.
What would I have to change to add NC subprogram call to the rs274 emctask ?
As an example on what I mean, here is a main program from a Schleicher CNC
Controller:
%1010
N2G91F20000(*MSG, PLOTTERTEST1 - #GROESSE: 90.71 x 70.71 )
N4G71
N6G39
N8G92X0Y0
N10B%1000
N12M30
At N10 the program makes a branch "B%" to a subprogram at line 1000, on other
machines the letter Q is often used for this.


And 2.
My current setup has 2 linear and an angular axis.
As this machine is cutting carton, the knife mounted on/controlled by the third
angular axis has to be tangential to the moving direction of the 2 linear
axes(x/y). If this is not done, the carton will tear because the knife will just
scratch, not cut.
Would I have to change to add this ? Is is OK if I compute the position of the
angular axis about 10 times a second. So is it possible to do this in the PLC ?
Were do I have to have a closer look at ?


Max