From 497d0fbc7b3df2049b842b799004a686bc037448 Mon Sep 17 00:00:00 2001 From: chk <79915315+ChKendel@users.noreply.github.com> Date: Thu, 25 Jun 2026 19:20:14 +0200 Subject: [PATCH] G92 doku & E-Stop-Doku --- EmergencyStopButton/eStopESP32.aux | 28 ++ EmergencyStopButton/eStopESP32.log | 529 ++++++++++++++++++++++ EmergencyStopButton/eStopESP32.out | 19 + EmergencyStopButton/eStopESP32.pdf | Bin 190432 -> 181387 bytes EmergencyStopButton/eStopESP32.synctex.gz | Bin 0 -> 27064 bytes EmergencyStopButton/eStopESP32.toc | 20 + doc/Info_G92.md | 115 +++++ 7 files changed, 711 insertions(+) create mode 100644 EmergencyStopButton/eStopESP32.aux create mode 100644 EmergencyStopButton/eStopESP32.log create mode 100644 EmergencyStopButton/eStopESP32.out create mode 100644 EmergencyStopButton/eStopESP32.synctex.gz create mode 100644 EmergencyStopButton/eStopESP32.toc create mode 100644 doc/Info_G92.md diff --git a/EmergencyStopButton/eStopESP32.aux b/EmergencyStopButton/eStopESP32.aux new file 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    -lZNf?3feX!I8k{vF+2IHWusRQ6qvhJGbcma6Yhw>wTpa zavNabq?z%dXf%L3pm!`v;eh68=`x#e-tJ%wFiM0Ywz;U&_5LI%Do6<=njQ&9rQbrZ z5tMAA0~3U5V~p>==M{g?60tFYqbM%^J;yL7^lDjJB67omSjMpt<)6oYvh8zd`7Z{I z(Z`MG;wp{NtVNUT_`dn_XqWVseccsq?}_jy*kfv)HEh+@#dch?x25~NaNzU%iyNDM zX>{&&+>;1FU0<;v(rSjWvgIO#+$c|3q$*|2P4B3`Vi|_-RYwe>*V7tQ(`<$n zy-N+|2t!C^#kb4-WDG-n^aj5_#K1(&REw;q#&oQh1+Nd0xFb!ATxmEbDhb#4$2RB` zA)t>nsZS;te zflzHB+2wh_UpU6_&^)PYJ!;G=4OVQIjKBd>-~o_OwFjMNR3x(>WYnYQMfFe4Tww|I z35My6<;HLp4OF8Orz5b!j1z8aJ!CD@Hp!D&8rhQ z_THl?jb}(XKPQnop<>#CgmBd5bTXpP-3?5I;^I!9#YGZ6YpE?piohm3UdLvWP+$CL z^pY-58#-F;K|L=IaBxH>2Oj%4HGVm>;8hSo>iX)ZGslWYmyx~SwXwBN9!=$Nq3C$; z>I|(0#jTvl0?vqvUOg+duPdC$O1MwN9HOx~Y$vH=kddPQ-(Qx!9mQYo|7v^i2s`wO zT~E|ml~D1j>wjAs2-k00mvpR>5l$60qfe=AfR!>%rFhtUXKETlid;H^IG%mM(FZ?y zz6Je)iT~SB=a;YwR;(o)5$U?+iMM`M6$swNISyFaP1If23DBSU`iI#RxnLt&aK9iJb(pBHd;17`nuTWfnC-6If1xK#oYHb*4{7GZ>=A0 z^gFuz96xT3!tLi@UoDm`r=0pOZ!b(fl>Yj1T3-lW*}l+eer#AV Y<°> Z<°> A<°> B<°> C<°> E +``` + +| Achse | Bedeutung | Einheit | +|-------|-----------------------------------|---------| +| X | Lineare Schiene (xMotor) | mm | +| Y | Schulterwinkel α (alpha) | Grad | +| Z | Ellenbogenwinkel β (beta) | Grad | +| A | Handgelenk 1 (a) | Grad | +| B | Handgelenk 2 (b) | Grad | +| C | Handgelenk 3 (c) | Grad | +| E | Greifer-Öffnung (ein Finger) | mm | + +**Beispiel (tatsächlicher Homing-Aufruf):** + +``` +G92 X158.14 Y4.19 Z57.74 A91.85 B-45.46 C-69.92 E21.20 +``` + +→ Y = 4,19°, Z = 57,74° usw. — alle Winkel direkt in Grad wie in FluidNC/GCode-Konvention. + +--- + +## Interne Verarbeitung (`RobotController.js`) + +Winkel-Achsen werden von Grad nach Radiant umgerechnet (D = 180/π): + +``` +robot.alpha = Y / D (intern: Radiant) +robot.beta = Z / D +robot.a = A / D +robot.b = B / D +robot.c = C / D +``` + +X bleibt mm, keine Umrechnung. + +**Greifer E** wird **nach** B und C gesetzt, damit die kinematische Kopplung stimmt: + +``` +robot.e = E (Finger-Öffnung, mm) +robot.eMotor = gripperMotorFromOpening(e) (abgeleiteter Motorwert) +``` + +Bei `Arm3SegmentLinearX`: `eMotor = e − b − c` (Sehnenkompensation durch Handgelenk). +Bei `Arm3SegmentRotaryBase`: `eMotor = e` (keine Kopplung). + +--- + +## Variante M92 (intern / Test) + +``` +M92 X Y Z A B C E +``` + +Winkel werden **roh als Radiant** übernommen. Für Skripte und Tests, nicht für Homing aus appRobotHoming. + +--- + +## Weiterleitung an FluidNC-Instanzen + +Nach dem Setzen der internen Motorslots ruft `robot.sendCommand('G92')` auf jedem registrierten `TelnetSenderGRBL` `execCommand('G92', mOld, mNew)` auf. + +Jede Instanz bekommt ihren eigenen `G92`-Befehl mit den Port-Inverse-Achswerten (Rückumrechnung Radiant → Grad, mit Kopplung): + +| Instanz | FluidNC-Achsen | Formel | +|---------|----------------------------|-----------------------------------------------------------| +| base | x = xMotor | direkt mm | +| | y = α → Grad | `alpha × D` | +| | z = β−α → Grad | `(beta − alpha) × D` | +| elbow | x = a → Grad | `a × D` | +| hand | x = c−b → Grad | `(c − b) × D` | +| | y = eMotor | direkt (mm oder gekoppelter Motorwert) | +| | z = b → Grad | `b × D` | + +`G92` bekommt **kein** `G90`-Prefix und keinen Vorschub — nur die geänderten Achsen werden angehängt. Jede Instanz übernimmt den Werkstück-Koordinaten-Offset (WPos) ohne Bewegung. + +**Hinweis:** Nur Achsen mit gesetztem `*MotorChanged`-Flag werden gesendet. Bleibt ein Wert gegenüber dem letzten Driver-Zustand unverändert, schickt die jeweilige Instanz keinen G92 für diese Achse. Nach einem Neustart des Drivers sind alle Flags gesetzt → alle Achsen werden gesendet. + +--- + +## Reporting (`M114` / Web-UI) + +| Feld | Quelle | Einheit | Anzeige in public/app.js | +|--------------------|----------------|---------|------------------------------------------| +| `position.x/y/z` | Workspace | mm | direkt | +| `position.a/b/c` | phi/theta/psi | rad | `× 180/π` → Grad | +| `position.e` | `robot.e` | mm | direkt (Greifer-Öffnung) | +| `motorCounts.x` | xMotor | mm | direkt | +| `motorCounts.y/z` | alpha/beta | rad | `× 180/π` → Grad | +| `motorCounts.a/b/c`| a/b/c | rad | `× 180/π` → Grad | +| `motorCounts.e` | `robot.eMotor` | mm | direkt (abgeleiteter Motorwert) | + +--- + +## Behobene Fehler (Kontext) + +**Ursprüngliches Problem:** `G92 X158.14 Y4.19 Z57.74 …` lieferte korrekte X-Werte, aber Y≈240 und Z≈3308 im Ergebnis. Ursache: Winkel wurden als Radiant interpretiert, intern aber mit `× D` auf Grad umgerechnet — doppelte Skalierung. + +**Drei Korrekturen:** + +1. **Grad-Interpretation:** G92 rechnet Eingabe-Winkel jetzt mit `÷ D` in Radiant um (statt roh zu übernehmen). +2. **Greifer-Motorwert:** `robot.e` (Öffnung) wurde gesetzt, aber `sendCommand()` überträgt `robot.eMotor`. Fix: `eMotor = gripperMotorFromOpening(e)` direkt im G92-Zweig, nach dem Setzen von B/C. +3. **Web-UI-Anzeige:** `state-e` zeigte `motorCounts.e × 180/π` (mm × 57,3 = Unsinn). Fix: zeigt jetzt `position.e` (mm direkt).