SimConfigs: Add melfa-sim using 'three21' kinematics

configs/sim/axis/vismach/melfa-sim/README → configs/sim/axis/vismach/serial-manipulators/melfa-sim/README

@@ -1,3 +1,3 @@
-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.
+This simulation is modelled on a Mitsubishi RV6-SDL serial manipulator. 
 
 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.

configs/sim/axis/vismach/serial-manipulators/melfa-sim/melfa-sim-genser/README

@@ -0,0 +1,35 @@
+This simulation uses 'genserkins' kinematics and the 'modified' DH-parameters used by that particular kinematic model. 
+
+A tutorial on how the required modified-DH-parameters were derived for this robot is available in the linuxcnc documentation.
+
+
+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) when set for 'genserkins' the axis letters
+represent the cartesian coordinates.

configs/sim/axis/vismach/melfa-sim/melfa.ini → configs/sim/axis/vismach/serial-manipulators/melfa-sim/melfa-sim-genser/melfa-sim-genser.ini

@@ -1,6 +1,6 @@
 [EMC]
 VERSION = 1.1
-MACHINE = melfa (mm)
+MACHINE = Melfa-Sim using 'genserkins' kinematics (mm)
 DEBUG = 0
 
 [KINS]
@@ -10,24 +10,22 @@ JOINTS= 6
 [HAL]
 HALUI = halui
 HALFILE = LIB:basic_sim.tcl
-HALFILE = melfa_dh.hal
-HALCMD = loadusr -W melfagui
+HALFILE = melfa_mdh.hal
+HALCMD = loadusr -W ../melfagui.py
 HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
-POSTGUI_HALFILE = melfa-postgui.hal
+POSTGUI_HALFILE = ../melfa-postgui.hal
 
 [RS274NGC]
 PARAMETER_FILE  = melfa.var
-SUBROUTINE_PATH = ./remap_subs
+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]
@@ -42,9 +40,9 @@ MAX_FEED_OVERRIDE = 2.0
 PROGRAM_PREFIX = ./
 INTRO_GRAPHIC = linuxcnc.gif
 INTRO_TIME = 5
-PYVCP = melfa.xml
+PYVCP = ../melfa.xml
 EDITOR = geany
-OPEN_FILE = example.ngc
+OPEN_FILE = ../example.ngc
 
 [TASK]
 TASK = milltask
@@ -68,7 +66,7 @@ DEFAULT_LINEAR_ACCELERATION = 200.0
 MAX_LINEAR_ACCELERATION = 400.0
 
 [EMCIO]
-TOOL_TABLE = melfa.tbl
+TOOL_TABLE = ../melfa.tbl
 
 [JOINT_0]
 TYPE = ANGULAR

configs/sim/axis/vismach/serial-manipulators/melfa-sim/melfa-sim-three21/README

@@ -0,0 +1,33 @@
+This simulation uses 'three21' kinematics and the 'standard' DH-parameters used by that particular kinematic model. 
+
+
+melfa-switchkins usage:
+
+1) startup (after homing) is in
+'three21' mode configured like
+melfa-switchkins.ini as an mm-based machine
+with 6 revolute joints.
+
+2) pyvcp buttons are provided to switch
+between 'three21' 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) when set for 'three21' the axis letters
+represent the cartesian coordinates.

configs/sim/axis/vismach/serial-manipulators/melfa-sim/melfa-sim-three21/melfa_321.ini

@@ -0,0 +1,141 @@
+[EMC]
+VERSION = 1.1
+MACHINE = Melfa-Sim using 'three21' kinematics (mm)
+DEBUG = 0
+
+[KINS]
+KINEMATICS= three21kins
+JOINTS= 6
+
+[HAL]
+HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+HALFILE = melfa_dh.hal
+HALCMD = loadusr -W ../melfagui.py
+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
+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
+
+
+[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

configs/sim/axis/vismach/serial-manipulators/melfa-sim/melfa-sim-three21/melfa_dh.hal

@@ -0,0 +1,13 @@
+# modified DH-parameters for RV-6SDL
+
+setp three21kins.A1 85
+setp three21kins.A2 380
+setp three21kins.A3 100
+setp three21kins.D1 350
+setp three21kins.D2 0
+setp three21kins.D3 0
+setp three21kins.D4 425
+#setp three21kins.D6 85 # distance to the flange
+setp three21kins.D6 235
+
+

src/hal/user_comps/vismach/melfagui.py → configs/sim/axis/vismach/serial-manipulators/melfa-sim/melfagui.py

@@ -42,19 +42,19 @@
 
 try: # Expect files in working directory
     # create toolholder from file
-    link7 = AsciiSTL(filename="link7.stl")
+    link7 = AsciiSTL(filename="../melfa_stl/link7.stl")
     # create wrist from file
-    link6 = AsciiSTL(filename="link6.stl")
+    link6 = AsciiSTL(filename="../melfa_stl/link6.stl")
     # create forearm from file
-    link5 = AsciiSTL(filename="link5.stl")
+    link5 = AsciiSTL(filename="../melfa_stl/link5.stl")
     # create ellbow trom file
-    link4 = AsciiSTL(filename="link4.stl")
+    link4 = AsciiSTL(filename="../melfa_stl/link4.stl")
     # create upper arm from file
-    link3 = AsciiSTL(filename="link3.stl")
+    link3 = AsciiSTL(filename="../melfa_stl/link3.stl")
     # create shoulder from file
-    link2 = AsciiSTL(filename="link2.stl")
+    link2 = AsciiSTL(filename="../melfa_stl/link2.stl")
     # create base (waist) from file
-    link1 = AsciiSTL(filename="link1.stl")
+    link1 = AsciiSTL(filename="../melfa_stl/link1.stl")
 except Exception as detail:
     print(detail)
     raise SystemExit("melfagui requires files link[1-7].stl in working directory")

configs/sim/axis/vismach/scara/scara.ini → configs/sim/axis/vismach/serial-manipulators/scara/scara.ini

@@ -83,7 +83,7 @@ DEFAULT_ANGULAR_ACCELERATION = 100.0
 MAX_ANGULAR_ACCELERATION = 200.0
 
 [EMCIO]
-TOOL_TABLE = scara.tbl
+#TOOL_TABLE = scara.tbl
 
 [AXIS_X]
 MAX_VELOCITY = 30.0