Hi. this is the current status of the machine:
the tool change component is almost done, but I have a problem. sometimes when I start linuxcnc the a-pos-feedback starts with the value of -89.9 and the turret goes 1/4 turn. what can cause this problem? this value is an input on the toolchange component so I suppose that is nothing on the programming side. this is the code how it is connected:
Code:
#*******************
# AXIS A
#*******************
setp pid.a.Pgain [AXIS_3]P
setp pid.a.Igain [AXIS_3]I
setp pid.a.Dgain [AXIS_3]D
setp pid.a.bias [AXIS_3]BIAS
setp pid.a.FF0 [AXIS_3]FF0
setp pid.a.FF1 [AXIS_3]FF1
setp pid.a.FF2 [AXIS_3]FF2
setp pid.a.deadband [AXIS_3]DEADBAND
setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
net a-index-enable <=> pid.a.index-enable
net x-enable => pid.a.enable
net a-output => pid.a.output
net a-vel-fb => pid.a.command-deriv
net a-pos-fb => pid.a.feedback
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.00.output-type 3
setp hm2_5i20.0.pwmgen.00.scale [AXIS_3]OUTPUT_SCALE
net a-output => hm2_5i20.0.pwmgen.00.value
#net a-pos-cmd axis.1.motor-pos-cmd
setp hm2_5i20.0.pwmgen.00.enable true
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.00.counter-mode 0
setp hm2_5i20.0.encoder.00.filter 1
setp hm2_5i20.0.encoder.00.index-invert 0
setp hm2_5i20.0.encoder.00.index-mask 0
setp hm2_5i20.0.encoder.00.index-mask-invert 0
setp hm2_5i20.0.encoder.00.scale [AXIS_3]ENCODER_SCALE
net a-pos-fb <= hm2_5i20.0.encoder.00.position
net a-vel-fb <= hm2_5i20.0.encoder.00.velocity
########net a-pos-fb => axis.1.motor-pos-fb
########net a-index-enable axis.1.index-enable <=> hm2_5i20.0.encoder.00.index-enable
net a-pos-rawcounts <= hm2_5i20.0.encoder.00.rawcounts
##################################################################################################
##################################################################################################
##################### TOOL CHANGE ###########################
loadrt tc
addf tc servo-thread
net tool-change iocontrol.0.tool-change => tc.toolchange
net tool-changed iocontrol.0.tool-changed <= tc.toolchanged
net tool-number iocontrol.0.tool-prep-number => tc.toolnumber
#net tool-oldnumber iocontrol.0.tool-number => tc.currenttoolnumber
net a-pos-fb => tc.position-fb
net a-pos-cmd tc.position-cmd => pid.a.command
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net ToolSensor1 hm2_5i20.0.gpio.033.in => tc.sensor1
net ToolSensor2 hm2_5i20.0.gpio.035.in => tc.sensor2
net ToolSensor3 hm2_5i20.0.gpio.037.in => tc.sensor3
net ToolSensor4 hm2_5i20.0.gpio.039.in => tc.sensor4
############################################################
other problem that I have is that I cant reduce the speed of the A axis. I tried change parameters on the ini file but has no effect on the speed.
Code:
#********************
# Axis A
#********************
[AXIS_3]
TYPE = angular
HOME = 0.0
FERROR = 30
MIN_FERROR = 30
#MAX_VELOCITY = 104.167
MAX_VELOCITY =0
#MAX_ACCELERATION = 1562.5
MAX_ACCELERATION =0
P = 1
I = 0
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10.0
ENCODER_SCALE = 728.177777778
OUTPUT_SCALE = 10.0
MIN_LIMIT = -1500
MAX_LIMIT = 300
HOME_OFFSET = 0.0
velocity and acceleration are 0, but it don't change the speed.
tnks,
João
