Re: 6-axis how can i get them working?

[Till Franitza <till.franitza-at-isw.uni-stuttgart.de>]

Hallo Tero!
i also used steppermod.o and it worked. I dont know why you cannot home your axes. is it because you are not in joint mode? You should be in joint mode! I do not understand your mdi command. Did you expect to move one single joint untransformed with it? I usually test the axes by jogging in manual mode with the switch. This is possible before having homed, i think. It ist important to set the homeswitch polarity the right way. Be aware that there is only one homeswitch for all axes that always needs to be released after an axis homed.
Till

Tero Kaarlela wrote:

 

----- Original Message -----

From: Till Franitza

To: Multiple recipients of list

Sent: Monday, July 02, 2001 5:34 PM

Subject: Re: 6-axis how can i get them working?

 Tero,
your Robot has six axes, so i assume you have written a transformation that makes the controller have control of six axes. Are there already 6 axes visible in your Yemc? It is configurable in the ini-file and not every user-interface is able to show all axes.
This is the Parallel-Port-Pin-assignment that works at my machine
Pin 1: Motor 4 DIR
Pin 2: Motor 0 DIR
Pin 3: Motor 0 STEP
Pin 4: Motor 1 DIR
Pin 5: Motor 1 STEP
Pin 6: Motor 2 DIR
Pin 7: Motor 2 STEP
Pin 8: Motor 3 DIR
Pin 9: Motor 3 STEP
Pin 10: (unused)
Pin 11: (unused)
Pin 12: ALL Motors REFERENCE SWITCH
Pin 13: ALL Motors NEG. LIMIT SWITCH
Pin 14: Motor 4 STEP
Pin 15: ALL Motors POS. LIMIT SWITCH
Pin 16: Motor 5 DIR
Pin 17: Motor 5 STEP
Pin 18-Pin 25: GND

in emcmot.c you will be able to find some lines that send out the pulses to the apropriate i/o-adresses.

Till

Now i got all 6 axes in yemc, but i can only home one of them. Five others stay yellow.

And if i give MDI command g0 p2 i get an error of using wrong symbol.

Can i use steppermod.o with 6 axes?

    Tero Kaarlela

--
Dipl.-Ing. Till Franitza
Institute for Control Engineering of Machine Tools and
Manufacturing Units (ISW)
c.o. FISW
Rosenbergstr. 28
D- 70174 Stuttgart
Germany

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email: till.franitza-at-isw.uni-stuttgart.de
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