Releases · grotius-cnc/hal-core

15 Nov 10:36

c108236

added 2 extra machine examples to the archive

Added 2 extra machines to the archive.

a 5 axis gantry cnc example with a tool position axis wich makes it a total of 6 axis.
Nice thing to mention is moving the machine in tooldirection.

simplescreenrecorder-2021-11-15_04.33.18.mp4

And added a tiny robot, eseries_ur16e. This example uses heavy stepfiles. A fast graphics card will help a bit, otherwise
stay patient.

Ok. next i will code the archive including scurve motion.

Assets 3

14 Nov 12:05

grotius-cnc

1.7

2dd2dbe

Different robot models added.

Did a code clean up and added robot models and a 5 axis cnc.
Added a new component: skynet
Skynet is a all in one component with advanched code techniques, using realtime kernel modules to control the robot realtime.

/opt/hal-core/src/hal/components/skynet/machines

novabot
dmu 54 fd monoblock 5 axis cnc
nachi mz07
kuka kr6 1- agilus
staubli tx90l hb
mitsubishi rv 6sdl
fanuc arcmate 100i

simplescreenrecorder-2021-11-15_04.33.18.mp4

Assets 3

06 Nov 23:01

grotius-cnc

1.6

92bc5ff

update

has now a improved kinematics component that can load multiple machines at runtime.
This type of coding i will now use for making the opencascade component also load multiple machines at runtime.
https://github.com/grotius-cnc/hal-kinematics/blob/main/README.md

For example load 5 machines :
./halcmd loadrt hal_kinematic machines=5 joints=6,6,6,6,3 iterations=100 debug=0

This will load 4 robots, each containing 6 axis. And a rotary table containing 3 axis.
The c (kernel) module component is using dynamic allocating of structure memory. I had to learn how to do this first.
This structure is also used in the c++ implementation.

Runtest with opencascade gui :
/opt/hal-core/src/hal/components/opencascade/hal/./runtest