Machsupport Forum
Mach Discussion => Mach SDK plugin questions and answers. => Topic started by: ynneb on June 06, 2006, 08:14:23 PM
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There are a few plugins that I would like to see happen, but wouldn't know how to implement.
If there are any budding young programmers out there looking for an idea, maybe this list of our ideas might help.
PLC/CNC Plug-in
It would be great to see a plug-in where it offered you the ability to preform PLC type work and also use Mach to then control motors, all off the same computer at the same time. One example of this could be a machine that loaded work onto a mill / router / etc did the appropriate cutting and then offloaded the finished work. I can imagine this sort of plug-in been very sought after from industry, and therefore been a good money earner for the writer.
EDIT this sort of plugin would expand Machs uses into the field of robotics. A logical point of expansion.
External interface Plug-in
Been a Flash user I can see many advantages of designing a GUI in flash and getting it to control Mach. Some of the advantages of using Flash as an interface are .
Movebale/dragable control modules in real time, so you can set the screen to what you need at the time, and not hoping to find a screen set that may or may not be suitable for your needs. Multiple LED states other than just on and off. Fly in and out windows upon user needs. Ther is a heap of other advantages too.
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I just posted a thread on the general mach discussion forum, I´ll copy and paste what I wrote. Brian suggested that it could be done with a plugin
"I might be getting ahead of myself, but bear with me for a while.
Imagine you build a 3, 4, 5 or 6 axis robot (abb and fanuc like) i know the difficulty here lies in telling the robot what to do (generate the toolpath). Ok now imagine making another robot, with the same dimensions (or scaled down) and instead of fitting the robot with servos, you just put the encoders. Now here is what I am getting at:
Is it possible to move the motorless version of the robot and have the motored robot make the same moves? Better yet, can those moves on the motorless robot be recorded, and then played back by the motored robot?"
Regards
Fernando
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Fer, you want to make a learning robot that stores all the movements that you put into it. This is how many of todays robots already do things.
You dont even need a second robot, you could just use the encoders from the existing robots servos.
You have made a good request. I also think this should be made.
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Benny,
Exactly, I just went to a local welding expo, and about 30% of the machines were welding robots. Most of them you had to teach, jog with a pendant to a certain point mark it as start of weld bead, and mark the end point to mark the end of bead. this is ok, but when welding non planar surfaces you have to supply a lot of points. That is why I suggested to teach the robot by actualy moving it "weld by hand" once and then have the robot replicate what you did. I think this is an easier way to program robots.
And yes... I stated about using the motors encoders in another post on the same thread.
Keep up the good work
Fernando
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Fernando,
Excuse my intrusion!
But Mach can Control a robot of 6axis.
You can make a vb script to adapt any other linguaguem of programming of ROBOT for codigoG
THAT COULD BE MADE WITHOUT ANY PROBLEM IN MACH.
Thanks
junior
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Not an intrusion at all.
I do not doubt that mach can control the robot, As a matter of fact, I know it can be done.
The problem lies with the kinematics of the robot, that is, the mathematic equations that define the position of the end effector (tool) at all times. That can be done on Mach at a certain extent, and its not easy to come up with those equations. The limitations of this in mach, is that the movements are based on end of move coordinates, the machine does not necessarily move in a desired trayectory to that point. Brian told me that will be worked on but should not expect it any sooner than a year.
What I was actually reffering to, is to capture the movements of the encoders on the robot, as you manually position the robot and make the desired work (weld, paint, apply glue, etc) then have the software (mach) replicate those moves with the motors on the robot.
Hope that clarifies it better.
Regards
Fernando
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Fernando
Write to functions that you need, I think can help you!
Best Regards
junior
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Basically what i wrote at the end, Capture the movements and encoder counts while moving the robot by hand (i dont mean joging, literally by hand), then in some way replicate those movements using mach. That way you have the toolpath, only thing needed next are just to add feedrates to each part of the path.
Regards
Fernando
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Fernando,
Very good idea,
With the new structure of the mach, I think it is possible!
But we needed some days to art to liberate the sdk of trajectory control.
As soon as I know that art will be able to liberate I explain with larger pleasure!
Thanks
Junior
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Fernando,
I think his idea, as they say here in my earth will give SAMBA
His idea made to dream me:
If Art liberates in whole SDK that I am waiting very anxious:
I think that will give to do in real time.
You knew that:
1 - it could help people with physical deficiency
2 - doctors could execute surgeries remotely
3 - etc etc etc
I am already with everything in the head to do that to happen.
I help in that you need!
Thanks
Junior
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That is exactly what i meant, it could be done by recording the movements on the actual robots encoders, or have a scaled down version of the robot with just encoders and use that to record the movements and translate them to the big robot, do it in real time, and you could move the big robot with the small one.
I wouldnt trust a machine like this to perform remote surgery, but helping disabled people could be a good idea.
I actually thought of this for industrial purposes.
Regards
Fernando,
What do you think about brasil in the world cup?
Im from mexico so soccer is huge here! go mexico!!
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Fernando,
Here we are waiting of the World cup. The sixth star.
I should finish this night a joystick plugin for Mach3 for version 1.90.042 that emulates functions of fire button JoyStick for codes oems buttons of the mach.
Already of the for you to begin to play with his ROBOT
Thanks
Junior
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Fernando,
I have a news, very good for you. ;D
It can be done Immediately, this night was inspired, I already made the train to work.
Do you understand of Electronic Circuits?
Regards
Junior
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I can certainly try, I am a mechanical and electrical engineer, but my knowledge of electronics is limited.
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I will make a diagram of blocks for you to understand better, you will need to develop a PCI, to read the signs of the encoder and to transform in serial rs232 or rs485 of the to do funcinar for VB Script or for Plugin (this is much Better)
I record + - like this:
Start|Encoder-1 Pos|Encoder-1 Vel|Encocer-2 pos|Encoder-2 Vel | Encoder-X Pos | Encoder-X Vel|CRC16|End
Mach Restore: Well Received
OR: I didn't understand
He sends the protocol again
The time of delay will be the time of sending of the communication, more time of the mach interplet the protocol: (Almost ANYTHING)
Later I make a diagram for you
Best Regards
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HI
Fernando
As I promised this oh
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Anybody watch those movies in the early ninties about humans operating building sized robots and fighting?
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HI Fernando
I Already developed the Hardware reading of his ROBOT'S Encoder, I ordered to do PCI today.
Thanks,
Junior
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Junior,
That is good to hear... hope it works as expected.
I was thinking the other day... wouldnt it be possible to use a 1:1 mpg on each step and direction input?
That way, if you have a robotic arm suited with only encoders providing pulses as an mpg would, then those pulses could be used as inputs on drivers. I dont know even if the grex can already do this. I think even automation direct servo drives have secondary encoder inputs that might do the trick.
Regards
Fernando
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I just reviewed the drawing you posted earlier,
I think its exactly the same thing i was saying on my previous post.
I also reviewed the specs on the grex and automation direct servo drives, they dont seem like they could do what we were talking about.
Remember the Matrix movie with the Mech robots with machineguns for arms? (brian you think you could come up with a script for pressing a buton and activating the triger on some 50cal machineguns? no need to worry about buffered inputs ;D)
Hope this works junior
keep me posted.
regards
Fernando
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Hi Fernando,
With this his idea Works!
But with together Mach you could put any motor type!
I did exactly as the drawing, My Hardware captures the position and speed and command the mach to move.
Regards
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HI Fernando
I forgot to comment on this hardware that I developed is not specify for his cyborg is for a scanner 3D of low cost!
I only hitchhiked of the idea of the arm, and I thought further on.
Now vein such a simple idea for his cyborg that you won't spend more than U$5 for axis hauls of the price of the encoder and of the motors, Excuse but I only woke up now for this detail!
Tomorrow I send the solution.
Best Regards
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Is there any plans for an integrated version of keygrabber as a plugin with Mach as opposed to a seperate executable? I think this would tidy things up nicely.
If this is likely to happen can I make a request. Instead of mapping the pendant button to keystrokes, can we have the ability to map them to buttons on the screen - i.e. press pendant button then click on the screen button you want to assign - that would be nifty!!!
Cheers
Dave
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Hey Junior,
It is good to see that you got it working. I would think a good use would be to teach machines, such as robotic arms to do things like paint, weld, cut, things like that.
How can we get our hands on the hardware and plugin?
Do you have pictures? videos?
Best Regards
Fernando
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Hi Fernando/Dave
Excuse the delay in the answer, I had out last week!
Yes I am working in the plugin. I think inside + - in 2 weeks it should be ready.
Today I received definitive Card of the interface.
I still don't have the videos that I am producing an an arm of 6 axes.
I made the initial tests with the encoders in a direct machine in the motors to simulate
Verry Best Regards
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Hello,
Is there any progress in developing this movement recording ...
Just curious,
Kris.
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Hi Kris,
Yes, the hardware this ready one only lack to finish the plugin for mach3.
6 axes to capture in real time.
Can digitizes the positions or to move her Machine as in real time.
Great hug
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Hello,
Are you gonna write this plugin, or is someone else doing this.
Do you sell this hardware, once the plugin is finished, or will you make it able to download all the schematics ,the microcontroller program, etc.
I'm not in direct need of this, but reading this post gave me some idea's.
Greetz,
Kris.
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Hi Kris.
Yes I will sell the hardware with plugins, and the price will be very cheaply, that can help a lot of people to do Machines and it does tie deficient physical.
I have hardware for everything that you need BREAK-OUT, TECLADO EMULADOR, DRIVE OF MOTOR (STEP MOTOR) (SERVO DC) (SERVO BLDC) and THC
I am here with priority to finish a Plugin to program my drives for the MACH3, it will be the first to be programmed direct for the mach and with status in real time.
This is next priority.
I thank his interest, of my insomnia nights it was not in vain.
Best Regards,
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not sure if this is the right place but what about a 360 controller plugin to use as pendent?