hal-core

Hi,

I see hal_opencascade is not in your /rtlib. So it is not build somehow.
What does this output tells you?  : $ /opt/hal-core/src/hal/components/opencascade/hal/./make

At my place it works. But i will reupload the /opencascade and /kinematics dir's to github. This will take a few minutes.
I will tell you here when its ready. And then i will do a fresh install and runtest to check if its oke.

Hi Dave,

The dirs are reuploaded.

Hi Dave,

I just did a fresh install. And it worked.
/opt/hal-core/src/hal/components/trajectory/hal$ ./runtest_fanuc

Here is my compiled hal-core dir archive

 

Deleted the old directories and redid the install_guide and everything worked!

 

Hi Dave,

Thank you for letting me know it worked !

1. You could try to add some hal pins to mesa harware in the the ./runtest file to move your robot a little bit with jog commands only.
Be carefull.
2. Check your stepfile drawings if positions of joints are perfect, try to check the exact tcp tool position.

I am working on the code of hal_opencascade.c and hal_kinematics.c to purge the halcompile coding style into pure c.

Will work on loading a gcode and let it move by a quaternion. Then you can position your heat exchanger by
hal parameter pins in 3d.



 

Hi Grotius,
Not sure if this is because it is running in a virtual machine or not, but I noticed when jogging that when I switch directions it will still move in the opposite direction almost like it has to finish a path plan? Here is a video of what it happening