U axis configuration
- captain chaos
- Offline
- Premium Member
-
Less
More
- Posts: 107
- Thank you received: 3
29 Nov 2011 23:04 - 29 Nov 2011 23:37 #15204
by captain chaos
Replied by captain chaos on topic Re:U axis configuration
Some photos of my machine.
Last edit: 29 Nov 2011 23:37 by BigJohnT. Reason: remove duplicate photo
Please Log in or Create an account to join the conversation.
- captain chaos
- Offline
- Premium Member
-
Less
More
- Posts: 107
- Thank you received: 3
29 Nov 2011 23:10 #15205
by captain chaos
Replied by captain chaos on topic Re:U axis configuration
Sorry got the same Photo twice and couldn't edit here's my prototype.
The other is my current rebuild.
The other is my current rebuild.
Please Log in or Create an account to join the conversation.
30 Nov 2011 21:23 #15238
by andypugh
Replied by andypugh on topic Re:U axis configuration
captain chaos wrote:
It would be best to zip up the entire machine config folder and post that, then I can test with exactly your config.
It's the INI twice. (And I don't think we will find the peoblem in the INI)Those are my files Hal and INI
It would be best to zip up the entire machine config folder and post that, then I can test with exactly your config.
Please Log in or Create an account to join the conversation.
- captain chaos
- Offline
- Premium Member
-
Less
More
- Posts: 107
- Thank you received: 3
30 Nov 2011 23:27 - 01 Dec 2011 00:47 #15240
by captain chaos
Hi Andy I hope this right this time, I am terribly sorry about that mix up I hate to waste your time and honestly do appreciate your help.
I managed to run EMC2 in a slaved con figuration quite well first time without much tweaking.
Cheers Paul
Replied by captain chaos on topic cRe:U axis configuration
Hi Andy I hope this right this time, I am terribly sorry about that mix up I hate to waste your time and honestly do appreciate your help.
I managed to run EMC2 in a slaved con figuration quite well first time without much tweaking.
Cheers Paul
Last edit: 01 Dec 2011 00:47 by captain chaos. Reason: could not load files
Please Log in or Create an account to join the conversation.
02 Dec 2011 02:18 #15268
by andypugh
Replied by andypugh on topic Re:cRe:U axis configuration
OK, I have your config, and I have your problem.
The bad news is that I have no idea what the cause is. And it is now 2am here.
It seems OK as long as you limit speed to <696 mm/min in world mode, it is almost like the stepgens run in slow motion in teleop mode.
I wouldn't normally recommend this, but what happens to the actual machine if you short-circuit the feedback?
iebecomes
I am curious if the step rate does drop very low, or if it is a problem only with the feedback.
The bad news is that I have no idea what the cause is. And it is now 2am here.
It seems OK as long as you limit speed to <696 mm/min in world mode, it is almost like the stepgens run in slow motion in teleop mode.
I wouldn't normally recommend this, but what happens to the actual machine if you short-circuit the feedback?
ie
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fbnet xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd axis.0.motor-pos-fb
net xpos-fb stepgen.0.position-fbI am curious if the step rate does drop very low, or if it is a problem only with the feedback.
Please Log in or Create an account to join the conversation.
- captain chaos
- Offline
- Premium Member
-
Less
More
- Posts: 107
- Thank you received: 3
02 Dec 2011 10:48 #15276
by captain chaos
Replied by captain chaos on topic Re:cRe:U axis configuration
Hi Andy I'm afraid that made no difference the max I can run is 581 mm/min but hugely grateful for your input.
I have done some extensive tweaking of the INI in the slaved axis and runs well Jogging at 3600mm/sec on the X axis @ 6mm per rev and 1380mm/sec on the Y axis @ 1.75mm per rev and runs the EMC2 splash program smoothly at max override. So I think it has to have something to do with whatever the configs are behind the INI SCALE, in HAL maybe?
I have done some extensive tweaking of the INI in the slaved axis and runs well Jogging at 3600mm/sec on the X axis @ 6mm per rev and 1380mm/sec on the Y axis @ 1.75mm per rev and runs the EMC2 splash program smoothly at max override. So I think it has to have something to do with whatever the configs are behind the INI SCALE, in HAL maybe?
Please Log in or Create an account to join the conversation.
02 Dec 2011 11:26 #15277
by andypugh
Replied by andypugh on topic Re:cRe:U axis configuration
Talking about INI file stuff, you might need a [TRAJ]DEFAULT_ACCELLERATION
www.linuxcnc.org/docview/html/config_ini...b:%5BTRAJ%5D-section
(Worth a try, anyway)
www.linuxcnc.org/docview/html/config_ini...b:%5BTRAJ%5D-section
(Worth a try, anyway)
Please Log in or Create an account to join the conversation.
- captain chaos
- Offline
- Premium Member
-
Less
More
- Posts: 107
- Thank you received: 3
02 Dec 2011 15:19 #15281
by captain chaos
Replied by captain chaos on topic Re:cRe:U axis configuration
OK thanks for that I'll give it a go.
Please Log in or Create an account to join the conversation.
- captain chaos
- Offline
- Premium Member
-
Less
More
- Posts: 107
- Thank you received: 3
02 Dec 2011 21:48 #15298
by captain chaos
Replied by captain chaos on topic Re:cRe:U axis configuration
I checked with Homan Designs on the Gecko 540 and he confirms what Big John said about micro stepping being fixed at 10 micro steps. So I will work with 3600mm / Min until I can get the joint mode working well and some practice on the machine before deciding on which way to go no the hardware side.
Cheers Paul
Cheers Paul
Please Log in or Create an account to join the conversation.
02 Dec 2011 22:56 #15300
by andypugh
Replied by andypugh on topic Re:cRe:U axis configuration
I have been fiddling some more, and now have my VM jogging at 12m/min.
The underlying problem is that your accellerations are all very low (though that was probably the INI file tinkering you mentioned).
You ought to increase them as far as you can, then back of a shade. Normally accel is at least 10x max vel, and possibly 100x.
[TRAJ]DEFAULT_ACCELERATION does seem to be the key. With your original velocity and accel values I can jog up to 12,000 mm/min as long as DEFAULT_ACCELERATION is less than the lowest accel of any one joint.
This only works if I switch to World mode immediately after homing. It does still all seem to go wrong if you jog in joint mode then go to World mode.
Check the docs, I am never sure of the correct spelling of ACCLERATION
The underlying problem is that your accellerations are all very low (though that was probably the INI file tinkering you mentioned).
You ought to increase them as far as you can, then back of a shade. Normally accel is at least 10x max vel, and possibly 100x.
[TRAJ]DEFAULT_ACCELERATION does seem to be the key. With your original velocity and accel values I can jog up to 12,000 mm/min as long as DEFAULT_ACCELERATION is less than the lowest accel of any one joint.
This only works if I switch to World mode immediately after homing. It does still all seem to go wrong if you jog in joint mode then go to World mode.
Check the docs, I am never sure of the correct spelling of ACCLERATION
Please Log in or Create an account to join the conversation.
Time to create page: 0.110 seconds