gomotion/README.Linux at master · ezKernel/gomotion · GitHub

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Quick Start Guide to building and demoing Go Motion for Linux
-------------------------------------------------------------
The INSTALL file has general instructions for compiling software built
using Autotools, as Go Motion has been. A summary, and more specific
instructions, follow here.

1. Obtain and unpack the Go Motion distribution, which you have
probably already done if you're reading this README. This would have
been something like this:

you> tar xzvf gomotion-1.X.tar.gz
you> cd gomotion-1.X
you> ./configure
you> make

This builds a non-real-time version of Go Motion.

2. Run the demo, which is based on a parallel kinematic cable robot:

you> bin/gorun -i etc/genhex.ini

You may see a bunch of diagnostics print out, then a window will pop
up titled "Go Motion" that shows the position values and has some
buttons for moving the robot around. This is the graphical pendant, a
substitute for a real robot pendant you would use on a real industrial
robot.

3. At the pendant, click the radio button next to the joint position
labeled "1" near the upper left, then click the "Home" button near the
middle. This will move the joint to its home position, and the digits
will turn from red to black. Do the same for joints 2-6.

4. Click the radio button labeled "World" in the row below the
position digits. The position will display XYZ RPW Cartesian
coordinates.

5. Select the "Z" axis radio button, then jog it up and down with the
"Jog-" and "Jog+" buttons. You should see the Z position numbers
change accordingly. The position can't be jogged past the software
limits, so if it looks like it's not responding, jog the other way and
get off the limit.

6. Click the "Move..." button to pop up a window into which you can
type target XYZ RPW coordinates (in mm and degrees), and a time for
the motion to complete. Fill in some numbers close to what's there,
put in a time of 1, and click "Write". The position should show motion
to the desired target in about the desired time. Click "Done" to
dismiss the Move window.

7. The motion likely took longer, since the speeds are clamped to
limits set in the etc/gomotion.ini file. It also took longer since
this demo is not running in real time.

8. If you have set up real-time Linux, you can build a real-time
version like this:

you> ./build

This will compile kernel modules into the rtlib/ directory. The
"gorun" script you ran earlier will look for these, and run real-time
Linux if available.

9. The selection of which drivers to use is made in the various
Makefiles, either bin/Makefile.am or rtlib/Makefile. If you want to
change these, you'll need to edit these files, run the "bootstrap"
script to re-generate the Makefiles, and the "build" script to
compile, e.g.,

you> echo I just edited some files
you> ./autoconf.sh
you> ./build
you> bin/gorun -i gomotion.ini

10. You'll now want to customize Go Motion for your device. Create
your own .ini file based on gomotion.ini, and change the parameters
according to the configuration of your own device. Comments in the
.ini file can help.

See the HTML documentation in doxygen-doc/html/index.html for many
more details on the software.

11. To run the task controller, bring up gosh and try this:

task> start bin/gotk scripts/raster.tcl -- -i etc/genhex.ini