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Hi Simon,

Thanks for the reply,

 I have got it working now 

Regards

Nick

   _____  

From: Simon Arthur [mailto:ch...@mi...] 
Sent: 03 February 2006 19:45
To: nick; rob...@li...
Subject: Re: Build instruction

Can you compile any other Java projects? 

Eclipse lets you set the JDK version per project. Do you have that set to
Java 1.5?

nick wrote: 

Hi Simon,

Are there any build instructions available for the robofac source, I have
created a project from the supplied ANT file, but seem to have a load of
problems with missing libraries etc particularly         

The type java.lang.annotation.Annotation cannot be resolved. It is
indirectly referenced from required .class files
SuppressWarnings.java  RoboFac/src/com/tinyplanet/robofac/gcode
line 1    03 February 2006 16:59:28         1563

For info I am using Eclipse and the v5 of JRE as stipulated

Thanks

Nick

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Thanks, its now compiling ok

Thanks for the response

Nick

   _____  

From: Dean Mao [mailto:de...@gm...] 
Sent: 04 February 2006 00:20
To: Simon Arthur
Cc: nick; rob...@li...
Subject: Re: [RoboFac-discuss] Re: Build instruction

yeah you might want to right-click your project and go to project settings
and ensure that you are using the 1.5 compiler settings.  The default for
eclipse 3.1 is Java 1.4.  You must explicitly set the java compiler version
even if you have the java 5 jdk installed. 

On 2/3/06, Simon Arthur <HYPERLINK
"mailto:ch...@mi..."ch...@mi...> wrote:

Can you compile any other Java projects? 

Eclipse lets you set the JDK version per project. Do you have that set to
Java 1.5?

nick wrote: 

Hi Simon,

Are there any build instructions available for the robofac source, I have
created a project from the supplied ANT file, but seem to have a load of
problems with missing libraries etc particularly         

The type java.lang.annotation.Annotation cannot be resolved. It is
indirectly referenced from required .class files
SuppressWarnings.java  RoboFac/src/com/tinyplanet/robofac/gcode
line 1    03 February 2006 16:59:28         1563

For info I am using Eclipse and the v5 of JRE as stipulated

Thanks

Nick

--
No virus found in this outgoing message.
Checked by AVG Free Edition.
Version: 7.1.375 / Virus Database: 267.15.0/249 - Release Date: 02/02/2006

--
No virus found in this incoming message.
Checked by AVG Free Edition.
Version: 7.1.375 / Virus Database: 267.15.0/249 - Release Date: 02/02/2006

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Checked by AVG Free Edition.
Version: 7.1.375 / Virus Database: 267.15.1/250 - Release Date: 03/02/2006

yeah you might want to right-click your project and go to project settings
and ensure that you are using the 1.5 compiler settings.  The default for
eclipse 3.1 is Java 1.4.  You must explicitly set the java compiler version
even if you have the java 5 jdk installed.

On 2/3/06, Simon Arthur <ch...@mi...> wrote:
>
> Can you compile any other Java projects?
>
> Eclipse lets you set the JDK version per project. Do you have that set to
> Java 1.5?
>
> nick wrote:
>
>  Hi Simon,
>
>
>
> Are there any build instructions available for the robofac source, I have
> created a project from the supplied ANT file, but seem to have a load of
> problems with missing libraries etc particularly
>
>
>
> The type java.lang.annotation.Annotation cannot be resolved. It is
> indirectly referenced from required .class files
> SuppressWarnings.java  RoboFac/src/com/tinyplanet/robofac/gcode
> line 1    03 February 2006 16:59:28         1563
>
>
>
> For info I am using Eclipse and the v5 of JRE as stipulated
>
>
>
>
>
> Thanks
>
> Nick
>
> --
> No virus found in this outgoing message.
> Checked by AVG Free Edition.
> Version: 7.1.375 / Virus Database: 267.15.0/249 - Release Date: 02/02/200=
6
>
>

Can you compile any other Java projects?

Eclipse lets you set the JDK version per project. Do you have that set 
to Java 1.5?

nick wrote:

> Hi Simon,
>
>  
>
> Are there any build instructions available for the robofac source, I 
> have created a project from the supplied ANT file, but seem to have a 
> load of problems with missing libraries etc particularly        
>
>  
>
> The type java.lang.annotation.Annotation cannot be resolved. It is 
> indirectly referenced from required .class files            
> SuppressWarnings.java  
> RoboFac/src/com/tinyplanet/robofac/gcode          line 1    03 
> February 2006 16:59:28         1563
>
>  
>
> For info I am using Eclipse and the v5 of JRE as stipulated
>
>  
>
>  
>
> Thanks
>
> Nick
>
>
> --
> No virus found in this outgoing message.
> Checked by AVG Free Edition.
> Version: 7.1.375 / Virus Database: 267.15.0/249 - Release Date: 02/02/2006
>

Yes, you'd need to create your own protocol to do this. I don't think 
you will gain anything by doing it this way, other than perhaps 
simplifying the wiring. Reading the logic levels off of the parallel 
port is very simple, which is why most CNC motor controllers works that way.

nick wrote:

> Hello,
>
>  
>
>  
>
> I am investigating having a pic (16f877) connected to the PC via 
> RS232. Then output Step and Direction to the six stepper motor driver 
> cards from the PIC , this would offload the realtime requirement from 
> the PC and also serve to help to implement this on Windows machine.
>
>  
>
> How easy would it be to change the output from Parallel to serial, I 
> suspect there may be a need to change output logic to something along 
> the lines of messages such as:
>
>  
>
> Send a message to move           X axis  5 steps direction c/w
>
>                                                 Yaxis 5 steps 
> direction cc/w
>
>                                                 Etc
>
>  
>
>  
>
> Regards
>
> Nick
>
>  
>
>  
>
>
> --
> No virus found in this outgoing message.
> Checked by AVG Free Edition.
> Version: 7.1.375 / Virus Database: 267.14.25/247 - Release Date: 
> 31/01/2006
>

Hello,

I am investigating having a pic (16f877) connected to the PC via RS232. Then
output Step and Direction to the six stepper motor driver cards from the PIC
, this would offload the realtime requirement from the PC and also serve to
help to implement this on Windows machine. 

How easy would it be to change the output from Parallel to serial, I suspect
there may be a need to change output logic to something along the lines of
messages such as: 

Send a message to move           X axis  5 steps direction c/w

                                                Yaxis 5 steps direction cc/w

                                                Etc

Regards

Nick

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No virus found in this outgoing message.
Checked by AVG Free Edition.
Version: 7.1.375 / Virus Database: 267.14.25/247 - Release Date: 31/01/2006

I'm almost done building my own hexapod :-D.  Hopefully in the next few
weeks I'll have some pictures available.  I started the project last Octobe=
r
and worked a few hours every other weekend.  Now I will need to focus on
making a calibration system....

On 1/30/06, Dale Puch <Da...@pu...> wrote:
>
> Since I imagine some people looking through this will be new to CNC g-cod=
e
> I thought these links might be of use.
>
> A cnc referance page from the Enhanced Machine Controller -- EMC site
> (linux 3 axis CNC controller)
> http://www.linuxcnc.org/handbook/gcode/g-code.htm
>
> or for just G-code referance
> http://www.cncezpro.com/gcodes.cfm
>
> A bit about axis layout and rotations
> http://www.rainnea.com/cnc_support.htm
>
> Purdue free CNC online video corse
> http://technology.calumet.purdue.edu/met/mfet/275/
>
> Manual from Siemens for one of their controls.  Has a lot ofstuff to get
> someone started.  Also probaly overload for most.
>
> http://www.automation.siemens.com/doconweb/pdf/SINUMERIK_SIMODRIVE_0405_E=
/840D_PG.pdf
>
> Dale
>
>
> -------------------------------------------------------
> This SF.net email is sponsored by: Splunk Inc. Do you grep through log
> files
> for problems?  Stop!  Download the new AJAX search engine that makes
> searching your log files as easy as surfing the  web.  DOWNLOAD SPLUNK!
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> _______________________________________________
> RoboFac at SourceForge: http://robofac.sourceforge.net
> Robofac-discuss mailing list
> Rob...@li...
> https://lists.sourceforge.net/lists/listinfo/robofac-discuss
>

Since I imagine some people looking through this will be new to CNC =
g-code I thought these links might be of use.

A cnc referance page from the Enhanced Machine Controller -- EMC site =
(linux 3 axis CNC controller)
http://www.linuxcnc.org/handbook/gcode/g-code.htm

or for just G-code referance
http://www.cncezpro.com/gcodes.cfm

A bit about axis layout and rotations
http://www.rainnea.com/cnc_support.htm

Purdue free CNC online video corse
http://technology.calumet.purdue.edu/met/mfet/275/

Manual from Siemens for one of their controls.  Has a lot ofstuff to get =
someone started.  Also probaly overload for most.
http://www.automation.siemens.com/doconweb/pdf/SINUMERIK_SIMODRIVE_0405_E=
/840D_PG.pdf

Dale

Sorry I haven't been updating the RoboFac software much lately. I've 
been busy with another, related project:
<http://www.bigbluesaw.com> .

Simon

Jason Sutterfield wrote:

> I have gathered most of the components for my hexapod.  I am machining 
> a few of the parts as I can get access to a lathe and mill, but for 
> the most part I am ready to build my machine.  I am wanting to use the 
> hexapod to machine 3D parts which I have designed in Solid Edge.  I 
> found an inexpensive piece of software that converts .stl files into 
> cutpaths.  From what I can gather, these are designed for standard 3 
> axis cnc routers, etc.  Wouldn't it seem that using software like this 
> would be limiting to a machine as flexible as a 6 dof hexapod?

You wouldn't be using the full capabilities of the hexapod, but it 
should still work.

> Also, Mr. Arthur, I subscribe to Servo Magazine and have read all 
> three of your articles on the hexapod.  I don't have Linux and don't 
> have any experience with Linux.  My father is a programmer and I can 
> probably work out my own windows software for machine control with his 
> help, but I wondered if there was a reason you went with the Linux 
> platform as the basis for your software? 

I was able to configure Linux to use a minimum of system resources. This 
was very helpful on the salvaged controller machine I use.

The RoboFac software will run on Microsoft Windows and Macintosh OS. It 
doesn't talk to the parallel port to control the step motors on these 
systems, though.

> Also, the problem we seem to be stuck at is where to get the file 
> layout information for different file formats.  Can you give some 
> insight as to where I can find this type of info?  I guess I may be 
> getting confused about where I'm at in all of this.  I have and am 
> proficient in the use of Solid Edge.  I can save my 3D parts in many 
> different formats.  Now, I need help understanding how to get info 
> from that file that can be translated to g-code, or to some other 
> format that a machine control program can use.  Input?  Suggestions?

This page shows the overall process of going from a computer drawing to 
a finished part:
http://www.parallax.com/html_pages/robotics/machining/drawing_to_metal.asp

What you want is called CAM (Computer Aided Manufacturing) software. As 
far as I can see, all CAM software that can do 5 DOF is too expensive 
for most hobbyists. However, some packages, like BobCAD/CAM, allow you a 
free evaluation period.

It may not be the best decision if you want to build the hexapod and
immediately be capable of making precision 3d parts. The hexapod is a fun
project to build a cnc machine out of ordinary off-the-shelf parts, but wil=
l
probably have poor accuracy until it is calibrated well. I would think that
cutpath files designed for 3-axis would work fine for a 6-axis hexapod. At
the moment, I'm still a bit unsure how the other 3 axes are used in typical
cnc processes since most production shops use only 3-axis machines. I think
it's just cool from an educational standpoint.
 I think the reason for going with Linux is so that others could potentiall=
y
use the software for larger opensource projects. In general, this is
typically the reason beta-quality software uses the Linux platform to targe=
t
a larger audience of open source developers. This is also one of my reasons
for writing software on the Linux platform -- there is just a huge selectio=
n
of open source libraries available.
 Dean

On 11/14/05, Jason Sutterfield <har...@ya...> wrote:
>
> I have gathered most of the components for my hexapod. I am machining a
> few of the parts as I can get access to a lathe and mill, but for the mos=
t
> part I am ready to build my machine. I am wanting to use the hexapod to
> machine 3D parts which I have designed in Solid Edge. I found an inexpens=
ive
> piece of software that converts .stl files into cutpaths. From what I can
> gather, these are designed for standard 3 axis cnc routers, etc. Wouldn't=
 it
> seem that using software like this would be limiting to a machine as
> flexible as a 6 dof hexapod? Also, Mr. Arthur, I subscribe to Servo Magaz=
ine
> and have read all three of your articles on the hexapod. I don't have Lin=
ux
> and don't have any experience with Linux. My father is a programmer and I
> can probably work out my own windows software for machine control with hi=
s
> help, but I wondered if there was a reason you went with the Linux platfo=
rm
> as the basis for your software? Also, the problem we seem to be stuck at =
is
> where to get the file layout information for different file formats. Can =
you
> give some insight as to where I can find this type of info? I guess I may=
 be
> getting confused about where I'm at in all of this. I have and am profici=
ent
> in the use of Solid Edge. I can save my 3D parts in many different format=
s.
> Now, I need help understanding how to get info from that file that can be
> translated to g-code, or to some other format that a machine control prog=
ram
> can use. Input? Suggestions?
>
> ------------------------------
> Yahoo! FareChase - Search multiple travel sites in one click.<http://us.l=
rd.yahoo.com/_ylc=3DX3oDMTFqODRtdXQ4BF9TAzMyOTc1MDIEX3MDOTY2ODgxNjkEcG9zAzE=
Ec2VjA21haWwtZm9vdGVyBHNsawNmYw--/SIG=3D110oav78o/**http%3a//farechase.yaho=
o.com/>
>
>

I have gathered most of the components for my hexapod.  I am machining a few of the parts as I can get access to a lathe and mill, but for the most part I am ready to build my machine.  I am wanting to use the hexapod to machine 3D parts which I have designed in Solid Edge.  I found an inexpensive piece of software that converts .stl files into cutpaths.  From what I can gather, these are designed for standard 3 axis cnc routers, etc.  Wouldn't it seem that using software like this would be limiting to a machine as flexible as a 6 dof hexapod?  Also, Mr. Arthur, I subscribe to Servo Magazine and have read all three of your articles on the hexapod.  I don't have Linux and don't have any experience with Linux.  My father is a programmer and I can probably work out my own windows software for machine control with his help, but I wondered if there was a reason you went with the Linux platform as the basis for your software?  Also, the problem we seem to be stuck at is where to get the
 file layout information for different file formats.  Can you give some insight as to where I can find this type of info?  I guess I may be getting confused about where I'm at in all of this.  I have and am proficient in the use of Solid Edge.  I can save my 3D parts in many different formats.  Now, I need help understanding how to get info from that file that can be translated to g-code, or to some other format that a machine control program can use.  Input?  Suggestions? 

---------------------------------
 Yahoo! FareChase - Search multiple travel sites in one click.  
I am prior military, going back to school on the GI Bill, working on a degree in aerospace and mechanical engineering.  Growing up, I was always tinkering around with some motor or gizmo of some sort, but I spent most of my time in the mechanical realm.  I've taken some machining classes at school and can build just about any mechanical part or mechanism I need.  It's just the programming stuff I'm not savvy on.... yet.

---------------------------------
 Yahoo! Music Unlimited - Access over 1 million songs. Try it free.
A G-code interpreter isn't that difficult, though it does have a few 
tricky spots where the spec is underdefined or instructions interact 
with each other in a tricky way.

RoboFac's interpreter can be seen here:
http://cvs.sourceforge.net/viewcvs.py/robofac/javasource/com/tinyplanet/robofac/gcode/Program.java?rev=1.19&view=markup

The Freesteel page <http://www.freesteel.co.uk/> was posted to the 
CAD_CAM_EDM_DRO list a couple days ago. It's a couple guys who created 
CAM software in the past and are now apparently working on a new 
machining algorithm. I'd send them an invitation to join this list, but 
I don't see any e-mail addresses on their website.

Dean Mao wrote:

>  Hm, I think the problem of writing a G-code interpreter isn't really that
>  hard. The hard part is still calibrating the machine to do what you 
> want it
>  to do. Once you got the machine to move to a position accurately, the 
> whole
>  G-code stuff is just a formality really. But yeah, converting a CAD 
> drawing
>  into G-code would be rather difficult, since there are many ways to
>  accomplish this and often depending on the material, it could change how
>  many passes you might want to do over the material etc. There's quite 
> a list
>  of parameters for doign stuff like this.

Also, I guess we should all note our backgrounds as well... I'm a software
engineer with decent background on languages, software analysis, workflow
software, and linux. Software isn't usually a problem if it doesn't exist
yet. You just have to find the right set of people motivated enough to do
it!!

Dean

On 10/14/05, Jason Sutterfield <har...@ya...> wrote:
>
> All,
>  This list is a great idea and I am really counting on the flow of ideas
> here to get me through this hexapod project. As I'm running through my
> mental list of questions and unsolved problems, one of the most ominous i=
s
> software. I realize that a lot of people are writing g-code for their cnc
> machines to use. I don't have experience in this and am wondering if ther=
e
> is a good reference source I can get to teach myself from? How hard would=
 it
> be to pool the talent on these message boards to write an open source g-c=
ode
> translator? I think most people can get ahold of design programs such as
> Pro-E, Rhino, Solid Edge, Solid Works, etc. (If not, sign up for a class =
at
> your local JuCo and you can usually get them for very little as a student
> version). The problem I am having difficulty with is how to get my design
> from the CAD program, into G-code. Once it's in G-code form, it's not har=
d
> to find inexpensive software to control the cnc platform. Any ideas on ho=
w
> we can get started on this? Is it feasible to work on a project like this
> from many different locations across the country/world?
>
> ------------------------------
> Yahoo! Music Unlimited - Access over 1 million songs. Try it free.<http:/=
/pa.yahoo.com/*http://us.rd.yahoo.com/evt=3D36035/*http://music.yahoo.com/u=
nlimited/>
>
>

Hm, I think the problem of writing a G-code interpreter isn't really that
hard. The hard part is still calibrating the machine to do what you want it
to do. Once you got the machine to move to a position accurately, the whole
G-code stuff is just a formality really. But yeah, converting a CAD drawing
into G-code would be rather difficult, since there are many ways to
accomplish this and often depending on the material, it could change how
many passes you might want to do over the material etc. There's quite a lis=
t
of parameters for doign stuff like this.

Just my thoughts.

Dean

On 10/14/05, Jason Sutterfield <har...@ya...> wrote:
>
> All,
>  This list is a great idea and I am really counting on the flow of ideas
> here to get me through this hexapod project. As I'm running through my
> mental list of questions and unsolved problems, one of the most ominous i=
s
> software. I realize that a lot of people are writing g-code for their cnc
> machines to use. I don't have experience in this and am wondering if ther=
e
> is a good reference source I can get to teach myself from? How hard would=
 it
> be to pool the talent on these message boards to write an open source g-c=
ode
> translator? I think most people can get ahold of design programs such as
> Pro-E, Rhino, Solid Edge, Solid Works, etc. (If not, sign up for a class =
at
> your local JuCo and you can usually get them for very little as a student
> version). The problem I am having difficulty with is how to get my design
> from the CAD program, into G-code. Once it's in G-code form, it's not har=
d
> to find inexpensive software to control the cnc platform. Any ideas on ho=
w
> we can get started on this? Is it feasible to work on a project like this
> from many different locations across the country/world?
>
> ------------------------------
> Yahoo! Music Unlimited - Access over 1 million songs. Try it free.<http:/=
/pa.yahoo.com/*http://us.rd.yahoo.com/evt=3D36035/*http://music.yahoo.com/u=
nlimited/>
>
>

All,

This list is a great idea and I am really counting on the flow of ideas here to get me through this hexapod project.  As I'm running through my mental list of questions and unsolved problems, one of the most ominous is software.  I realize that a lot of people are writing g-code for their cnc machines to use.  I don't have experience in this and am wondering if there is a good reference source I can get to teach myself from?  How hard would it be to pool the talent on these message boards to write an open source g-code translator?  I think most people can get ahold of design programs such as Pro-E, Rhino, Solid Edge, Solid Works, etc.  (If not, sign up for a class at your local JuCo and you can usually get them for very little as a student version).  The problem I am having difficulty with is how to get my design from the CAD program, into G-code.  Once it's in G-code form, it's not hard to find inexpensive software to control the cnc platform.  Any ideas on how we can get started on
 this?  Is it feasible to work on a project like this from many different locations across the country/world?

---------------------------------
 Yahoo! Music Unlimited - Access over 1 million songs. Try it free.
Greetings all...

I thought I'd post an introductory email about myself and my progress on
building my own hexapod. At the moment, I'm out of the country, but once I
get back, I'll be finishing the actuator arms. I purchased a set of acme
thread couplers to use as the thread for the rods, but they were the wrong
size! At the moment, I'm searching for 1/2" couplers that are 3/4" in
diameter so that I can fit them snug in my 3/4" copper rods. I'm using
copper because it's a little easier to work with, but hopefully they are
stiff enough for most purposes. I'll be drilling set holes into the coupler=
s
so that I can put set screws in them to keep them from moving around in the
actuator arm. Everything else has been built! Once I get these actuator arm=
s
finished, I'm ready to see what it's like to have a hexapod working!

As far as calibration goes, I'm thinking about hacking apart a serial
"wheel" mouse to make use of the wheels as a mechanism for "on the fly"
calibration. A single mouse should supply calibration information for a
single x-y plane. At the moment, I have no clue how to calibrate the other
axes. I'm not even sure what the other axes are really used for in a real
hexapod. (yaw, pitch, roll) Should be interesting how it works... (or if it
doesn't work...)

Dean (Located in Atlanta, but in Australia on business)

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