G92 doku & E-Stop-Doku
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EmergencyStopButton/eStopESP32.aux
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EmergencyStopButton/eStopESP32.log
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[4]
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[5] (eStopESP32.aux)
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***********
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LaTeX2e <2024-11-01> patch level 2
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L3 programming layer <2025-04-29>
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|
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19
EmergencyStopButton/eStopESP32.out
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EmergencyStopButton/eStopESP32.out
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20
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EmergencyStopButton/eStopESP32.toc
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|
||||
\babel@toc {ngerman}{}\relax
|
||||
\contentsline {section}{\numberline {1}Ziel und Anforderungen}{2}{section.1}%
|
||||
\contentsline {section}{\numberline {2}Architekturentscheidung}{2}{section.2}%
|
||||
\contentsline {subsection}{\numberline {2.1}Bewertete Optionen}{2}{subsection.2.1}%
|
||||
\contentsline {subsection}{\numberline {2.2}Entscheidung: WiFi Light Sleep}{2}{subsection.2.2}%
|
||||
\contentsline {section}{\numberline {3}WiFi Light Sleep -- Funktionsprinzip}{2}{section.3}%
|
||||
\contentsline {subsection}{\numberline {3.1}DTIM-Einstellung und Stromverbrauch}{3}{subsection.3.1}%
|
||||
\contentsline {subsection}{\numberline {3.2}Akkulaufzeit (2000 mAh LiPo)}{3}{subsection.3.2}%
|
||||
\contentsline {section}{\numberline {4}Latenzbudget}{3}{section.4}%
|
||||
\contentsline {section}{\numberline {5}Hardware}{3}{section.5}%
|
||||
\contentsline {subsection}{\numberline {5.1}Empfohlene Boards}{3}{subsection.5.1}%
|
||||
\contentsline {subsection}{\numberline {5.2}Akku-Spezifikation}{3}{subsection.5.2}%
|
||||
\contentsline {subsection}{\numberline {5.3}Schaltung}{4}{subsection.5.3}%
|
||||
\contentsline {section}{\numberline {6}Software}{4}{section.6}%
|
||||
\contentsline {subsection}{\numberline {6.1}Abhängigkeiten (Arduino IDE)}{4}{subsection.6.1}%
|
||||
\contentsline {subsection}{\numberline {6.2}Konfiguration in \texttt {EmergencyStopButton.ino}}{4}{subsection.6.2}%
|
||||
\contentsline {subsection}{\numberline {6.3}Ablauf}{4}{subsection.6.3}%
|
||||
\contentsline {subsection}{\numberline {6.4}Kritische API-Funktion}{5}{subsection.6.4}%
|
||||
\contentsline {section}{\numberline {7}Deployment-Hinweise}{5}{section.7}%
|
||||
\contentsline {section}{\numberline {8}Dateien}{5}{section.8}%
|
||||
115
doc/Info_G92.md
Normal file
115
doc/Info_G92.md
Normal file
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|
||||
# G92 - Homing
|
||||
|
||||
die appRobotHoming ermittelt die Position der Gelenke (per Foto oder sonstigen Infos).
|
||||
|
||||
Diese werden wie folgt behandelt und umgerechnet.
|
||||
|
||||
---
|
||||
|
||||
## Befehlsformat
|
||||
|
||||
```
|
||||
G92 X<mm> Y<°> Z<°> A<°> B<°> C<°> E<mm>
|
||||
```
|
||||
|
||||
| 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<mm> Y<rad> Z<rad> A<rad> B<rad> C<rad> E<mm>
|
||||
```
|
||||
|
||||
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).
|
||||
Reference in New Issue
Block a user