On 3/15/2010 2:02 PM, Viesturs Lācis wrote: > Hi! > > 2010/3/15 Alex Joni<[email protected]>: > >>> EMC2 has been used to control a number of industrial robots, I suspect >>> that it would be much cheaper and easier to by a second-hand Puma or >>> equivalent and then control that with an independent EMC PC. >>> This is Alex Joni's home-built robot controlled by EMC2 >>> http://www.youtube.com/watch?v=TLxwAX8G3oI >>> >> not mine, but froma friend in germany. I only uploaded the vid, and helped >> him sort it out. >> But anyways, there is a puma config in emc2 (sim so far, but Sam Sokolik is >> working on changing that -> nudge) >> > Alex, can You share some contactinformation of an author of that robot > arm? I might be willing to contact him with some questions if i will > get so far to real implementation of such an idea. It would help me to > understand, how such arms are created, how much does it cost to choose > between building my own or acquiring existing (most probably used > one)? > > >>> I suspect that a true general-purpose robot would be overkill for a >>> lathe loader, but if it could reach both the mill and the lathe and >>> perform double-duty then it makes more sense. Otherwise a much simpler >>> machine (rather like an automatic tool changer for a mill) might be >>> better for the lathe. >>> >> I agree that it might be overkill, but it would be too cool ;) >> You could even train it to change tools on a mill if you like ... >> > Yes, i can only agree with that. > > If I follow Andy's suggestion about controlling the arm with an > independent EMC PC, how do I make both EMCs on separate PCs > communicate on the Dave's suggest scheme? > Lathe Output -> Ready to load -> Robot input > Robot output -> Release Chuck -> Lathe input > Lathe output -> Chuck Released -> Robot input > Robot output -> Part ready to chuck -> Lathe input > Lathe output -> Chuck clamped -> Robot input > Robot output -> Robot clear of lathe -> Lathe input > Lathe output -> Lathe busy -> Robot input > > As I just have started integrating EMC and have short background in > CNC, I do not understand, how exactly that communication is created? I > think that I would start with adding another paralel port, assigning a > input/output pin to each of these steps (lathe is ready to load the > part; chuck released; part in the chuck; chuck closed etc) and then i > am stuck :) > > Viesturs > > >
As usual, there are a number of ways to do this within EMC2. If you just want to use digital I/O, look at the custom Mcodes. Also look at the Gcodes that allow you to wait for an input and set an output. If you want to use Modbus RTU serial, there are ways to link two modbus masters. There are some commercial products out there that can do that. There may be some Linux programs out there as well. You can also load a Modbus TCP server on one machine and load a Modbus TCP client on the other machine and read and write data with the Client into the Server effectively linking both EMC2 machines. I don't know if anyone has done this yet, but it is there, and the price is right! ;-) http://wiki.linuxcnc.org/emcinfo.pl?ClassicLadder_Ver_7.124#Modbus Dave ------------------------------------------------------------------------------ Download Intel® Parallel Studio Eval Try the new software tools for yourself. Speed compiling, find bugs proactively, and fine-tune applications for parallel performance. See why Intel Parallel Studio got high marks during beta. http://p.sf.net/sfu/intel-sw-dev _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
