scarakins j3 strange min limit error on JA
22 Mar 2016 16:43 #72041
by bkt
scarakins j3 strange min limit error on JA was created by bkt
Hello at all,
I work around my firs scara with standard scarakins .... I have strange problem:
1- when stop my ngc program at casual program row and reload for start to beginning axis show a popup error with these advice: C axes exceed minimun limit. To restart are obliged to return the Scara in home position and restart JA9. Redoing the home without restarting does not work.
2- During the normal work with my ngc program (in ngc not have command for A/j3 axis) the j3 move correct but if I reverse the trajectory of the J3 Scara moves a little before following properly the other axes for example my program move 25 time from x500 y400 to x500 y-400; when the motion revers I see the issue.
in attach my j3 ini file and j3 hal ..... I make some stupid error that I not show??
I work around my firs scara with standard scarakins .... I have strange problem:
1- when stop my ngc program at casual program row and reload for start to beginning axis show a popup error with these advice: C axes exceed minimun limit. To restart are obliged to return the Scara in home position and restart JA9. Redoing the home without restarting does not work.
2- During the normal work with my ngc program (in ngc not have command for A/j3 axis) the j3 move correct but if I reverse the trajectory of the J3 Scara moves a little before following properly the other axes for example my program move 25 time from x500 y400 to x500 y-400; when the motion revers I see the issue.
in attach my j3 ini file and j3 hal ..... I make some stupid error that I not show??
Warning: Spoiler!
#********************
# Axis A INI FILE
#********************
[AXIS_C]
HOME = 0.0
#MIN_LIMIT = -360.0
#MAX_LIMIT = 360.0
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 7200.0
[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 5.5
MIN_FERROR = 5.05
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 7200.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 450.00
STEPGEN_MAXACCEL = 9000.00
P = 1200.0
I = 10.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 450.0
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 189.393939394
MIN_LIMIT = -270.0
MAX_LIMIT = 270.0
#HOME_OFFSET = 10.0
#HOME_SEARCH_VEL = -12.000000
#HOME_LATCH_VEL = 2.500000
#HOME_FINAL_VEL = 5.000000
#HOME_USE_INDEX = NO
HOME_SEQUENCE = 3
#*******************
# AXIS A HAl FILE
#*******************
setp pid.a.Pgain [JOINT_3]P
setp pid.a.Igain [JOINT_3]I
setp pid.a.Dgain [JOINT_3]D
setp pid.a.bias [JOINT_3]BIAS
setp pid.a.FF0 [JOINT_3]FF0
setp pid.a.FF1 [JOINT_3]FF1
setp pid.a.FF2 [JOINT_3]FF2
setp pid.a.deadband [JOINT_3]DEADBAND
setp pid.a.maxoutput [JOINT_3]MAX_OUTPUT
setp pid.a.error-previous-target true
#setp pid.a.maxerror .0005
net a-index-enable <=> pid.a.index-enable
net a-enable => pid.a.enable
net a-pos-cmd => pid.a.command
net a-vel-cmd => pid.a.command-deriv
net a-pos-fb => pid.a.feedback
net a-output => pid.a.output
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP
setp hm2_5i25.0.stepgen.03.dirhold [JOINT_3]DIRHOLD
setp hm2_5i25.0.stepgen.03.steplen [JOINT_3]STEPLEN
setp hm2_5i25.0.stepgen.03.stepspace [JOINT_3]STEPSPACE
setp hm2_5i25.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE
setp hm2_5i25.0.stepgen.03.step_type 0
setp hm2_5i25.0.stepgen.03.control-type 1
setp hm2_5i25.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net a-pos-cmd <= joint.3.motor-pos-cmd
net a-vel-cmd <= joint.3.vel-cmd
net a-output <= hm2_5i25.0.stepgen.03.velocity-cmd
net a-pos-fb <= hm2_5i25.0.stepgen.03.position-fb
net a-pos-fb => joint.3.motor-pos-fb
net a-enable <= joint.3.amp-enable-out
net a-enable => hm2_5i25.0.stepgen.03.enable
# Axis A INI FILE
#********************
[AXIS_C]
HOME = 0.0
#MIN_LIMIT = -360.0
#MAX_LIMIT = 360.0
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 7200.0
[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 5.5
MIN_FERROR = 5.05
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 7200.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 450.00
STEPGEN_MAXACCEL = 9000.00
P = 1200.0
I = 10.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 450.0
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 189.393939394
MIN_LIMIT = -270.0
MAX_LIMIT = 270.0
#HOME_OFFSET = 10.0
#HOME_SEARCH_VEL = -12.000000
#HOME_LATCH_VEL = 2.500000
#HOME_FINAL_VEL = 5.000000
#HOME_USE_INDEX = NO
HOME_SEQUENCE = 3
#*******************
# AXIS A HAl FILE
#*******************
setp pid.a.Pgain [JOINT_3]P
setp pid.a.Igain [JOINT_3]I
setp pid.a.Dgain [JOINT_3]D
setp pid.a.bias [JOINT_3]BIAS
setp pid.a.FF0 [JOINT_3]FF0
setp pid.a.FF1 [JOINT_3]FF1
setp pid.a.FF2 [JOINT_3]FF2
setp pid.a.deadband [JOINT_3]DEADBAND
setp pid.a.maxoutput [JOINT_3]MAX_OUTPUT
setp pid.a.error-previous-target true
#setp pid.a.maxerror .0005
net a-index-enable <=> pid.a.index-enable
net a-enable => pid.a.enable
net a-pos-cmd => pid.a.command
net a-vel-cmd => pid.a.command-deriv
net a-pos-fb => pid.a.feedback
net a-output => pid.a.output
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP
setp hm2_5i25.0.stepgen.03.dirhold [JOINT_3]DIRHOLD
setp hm2_5i25.0.stepgen.03.steplen [JOINT_3]STEPLEN
setp hm2_5i25.0.stepgen.03.stepspace [JOINT_3]STEPSPACE
setp hm2_5i25.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE
setp hm2_5i25.0.stepgen.03.step_type 0
setp hm2_5i25.0.stepgen.03.control-type 1
setp hm2_5i25.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net a-pos-cmd <= joint.3.motor-pos-cmd
net a-vel-cmd <= joint.3.vel-cmd
net a-output <= hm2_5i25.0.stepgen.03.velocity-cmd
net a-pos-fb <= hm2_5i25.0.stepgen.03.position-fb
net a-pos-fb => joint.3.motor-pos-fb
net a-enable <= joint.3.amp-enable-out
net a-enable => hm2_5i25.0.stepgen.03.enable
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29 Mar 2016 15:15 #72330
by andypugh
Replied by andypugh on topic scarakins j3 strange min limit error on JA
JA9 is a fair way behind now there is a JA12.
I don't know if that will help with the problem, it might be a problem in scarakins.
I don't know if that will help with the problem, it might be a problem in scarakins.
The following user(s) said Thank You: bkt
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30 Mar 2016 10:35 #72375
by bkt
Replied by bkt on topic scarakins j3 strange min limit error on JA
I try it....
regards
Giorgio
regards
Giorgio
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