confused about velocity settings in the INI

Aciera
Topic Author
Offline
Administrator

6 years 4 months ago - 6 years 4 months ago #171382 by Aciera

confused about velocity settings in the INI was created by Aciera

I have a bar loader configured as a U axis in a mill configuration using stepper motors. This u axis, unlike all other axis, is a direct drive rack and pinion. Because this feeder has a travel length of 4 meters I want to increase the G0 rapid velocity by about a factor of 10 without affecting the settings of the other axis.

Warning: Spoiler!

[EMC]
MACHINE = Deckel-FP2
DEBUG = 0
VERSION = 1.1

[DISPLAY]
# required NativeCAM item :
NCAM_DIR = ncam
# required NativeCAM items :
EMBED_TAB_COMMAND = gladevcp -x {XID} -U --catalog=mill /usr/share/linuxcnc/aux_gladevcp/NativeCAM/ncam.ui
EMBED_TAB_NAME = NativeCAM
EMBED_TAB_LOCATION = ntb_user_tabs

EMBED_TAB_NAME= Kinematik-LED
EMBED_TAB_COMMAND= halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -u ./hitcounter.py -H ./gladevcp/kins-leds.hal -x {XID} ./gladevcp/kins-leds.ui
EMBED_TAB_LOCATION = box_cooling

EMBED_TAB_NAME= Spindle-rpm-sensor
EMBED_TAB_COMMAND= gladevcp -H ./gladevcp/spindle-sensor.hal -x {XID} ./gladevcp/spindle-sensor.ui
EMBED_TAB_LOCATION = box_custom_3

DISPLAY = gmoccapy
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/user/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 50.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyzb

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH = ncam/my-stuff:ncam/lib/mill:ncam/lib/utilities:./remap_subs
FEATURES = 8
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap

PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i76e.0

[HAL]
HALUI = halui
HALFILE = Deckel-FP2.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
HALCMD = net :b-rot-axis-set <= motion.digital-out-03 => mux.offset_z.sel => mux.offset_x.sel

HALCMD = net :table-x joint.0.pos-fb
HALCMD = net :saddle-y joint.1.pos-fb
HALCMD = net :spindle-z joint.2.pos-fb
HALCMD = net :tilt-b joint.3.pos-fb
HALCMD = net :tool-offset motion.tooloffset.z
HALCMD = net :tool-offset xyzbc-trt-kins.tool-offset
HALCMD = net :x-offset xyzbc-trt-kins.x-offset
HALCMD = net :z-offset xyzbc-trt-kins.z-offset
#HALCMD = sets :x-offset 100
#HALCMD = sets :z-offset -100

[HALUI]
MDI_COMMAND = G10 L20 P0 X0 ( Set X to zero )
MDI_COMMAND = G10 L20 P0 Y0 ( Set Y to zero )
MDI_COMMAND = G10 L20 P0 Z0 ( Set Z to zero )
MDI_COMMAND = G10 L20 P0 U0 ( Set U to zero )

[KINS]
JOINTS = 6
KINEMATICS = xyzbc-trt-kins sparm=identityfirst

[TRAJ]
COORDINATES = XYZBU
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00
NO_FORCE_HOMING = 1

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#******************************************
[AXIS_X]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -0.1
MAX_LIMIT = 400.1

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# 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 = 35
STEPGEN_MAXACCEL = 300
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 50000
DIRHOLD = 1000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 3000
#MIN_LIMIT = -0.1
#MAX_LIMIT = 400.1
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -25
HOME_LATCH_VEL = 1
#HOME_FINAL_VEL = 15
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -200.5
MAX_LIMIT = 0.01

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# 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 = 35
STEPGEN_MAXACCEL = 300
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 50000
DIRHOLD = 1000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 3000
MIN_LIMIT = -200.5
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 25
HOME_LATCH_VEL = -1
#HOME_FINAL_VEL = 15
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -270.1
MAX_LIMIT = 0.01

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# 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 = 35
STEPGEN_MAXACCEL = 300
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 50000
DIRHOLD = 1000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 3000
#MIN_LIMIT = -270.5
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 25
HOME_LATCH_VEL = -1
#HOME_FINAL_VEL = 15
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#******************************************
[AXIS_A]
#MIN_LIMIT = -90
#MAX_LIMIT = 90
MAX_VELOCITY = 30
MAX_ACCELERATION = 300

[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 40
MAX_ACCELERATION = 400
# 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 = 49
STEPGEN_MAXACCEL = 500
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 10
#MIN_LIMIT = -90
#MAX_LIMIT = 90
#HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = 25
#HOME_LATCH_VEL = -1
#HOME_FINAL_VEL = 15
#HOME_USE_INDEX = NO
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#*********************************************************************

[AXIS_B]
MIN_LIMIT = -90
MAX_LIMIT = 90
MAX_VELOCITY = 30
MAX_ACCELERATION = 300

[JOINT_4]
TYPE = ANGULAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 40
MAX_ACCELERATION = 400
# 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 = 49
STEPGEN_MAXACCEL = 500
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 10
MIN_LIMIT = -90
MAX_LIMIT = 90
#HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = 25
#HOME_LATCH_VEL = -1
#HOME_FINAL_VEL = 15
#HOME_USE_INDEX = NO
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

[AXIS_U]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -4000.1
MAX_LIMIT = 0.1

[JOINT_5]
TYPE = LINEAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# 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 = 35
STEPGEN_MAXACCEL = 350
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 50000
DIRHOLD = 1000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 48.165
MIN_LIMIT = -4000.1
MAX_LIMIT = 0.1
#HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = -25
#HOME_LATCH_VEL = 1
#HOME_FINAL_VEL = 15
#HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#**************************************33

#********************
# Spindle
#********************
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_eth
# BOARD0=7i76e

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = -0.01633987
OUTPUT_SCALE = 6000
OUTPUT_MIN_LIMIT = 100
OUTPUT_MAX_LIMIT = 6300

Now I got myself confused about all the different velocities and acceleration settings in the INI file.

So we have this in the DISPLAY section:

this in the TRAJ section

this in the AXIS section:

this in the JOINT section:

and this in the joint section that is actually for the hostmot2 stepgen

So my understanding is that in JOINT mode (so also for the homing process since there is no axis before the joint is homed) the settings in the JOINT section are relevant. After homing it is the AXIS section.
So then in the DISPLAY section we set the min/max values for the jog slider in the GUI and the TRAJ setting are for the motion planner.

So in order to increase the G0 velocity for the U-Axis only I should just be able to increase the settings in the U-AXIS section.
I tried that but it does not seem to make a difference. The U-AXIS still moves at about 25mm/s.

Because the machine is already in use I can't spend to much time fiddling with it. So I would like to have a somewhat clear understanding of what my approach should be.

So should I increase the TRAJ velocity and the JOINT and the AXIS for U? Should the settings in the JOINT and AXIS sections always be the same?

Thanks

Last edit: 6 years 4 months ago by Aciera.

Please Log in or Create an account to join the conversation.

bbsr_5a
Offline
Platinum Member

6 years 4 months ago #171384 by bbsr_5a

Replied by bbsr_5a on topic confused about velocity settings in the INI

it will be a error if the AXIS and Joint settings are not the same

for UW the Values are also in Machine units

and ofcause in per second

Please Log in or Create an account to join the conversation.

tommylight
Away
Moderator

6 years 4 months ago #171419 by tommylight

Replied by tommylight on topic confused about velocity settings in the INI

Display section = limits the slider velocity in the GUI
Traj section limits overall machine velocities
Per axis/joint section limit that axis/joint
I always set the display and traj section about 25 % more than any of the axis, so when i jog X and Y together it can reach both axis/joint speeds, without clipping them. When two axis move together, the distance travelled is longer than that of each axis.
So to increase the U axis speed, the display and traj have to also be raised.

www.youtube.com/@toma.cnc1
www.youtube.com/@toma.3d
www.youtube.com/@tomapc

The following user(s) said Thank You: Aciera

Please Log in or Create an account to join the conversation.

Mike_Eitel
Offline
Platinum Member

6 years 4 months ago #171435 by Mike_Eitel

Replied by Mike_Eitel on topic confused about velocity settings in the INI

In theorie you should set it to the square root of three. Ca 1.7

The following user(s) said Thank You: Aciera

Please Log in or Create an account to join the conversation.

bbsr_5a
Offline
Platinum Member

6 years 4 months ago #171448 by bbsr_5a

Replied by bbsr_5a on topic confused about velocity settings in the INI

refering to his other post he managed it and got a running machine

Please Log in or Create an account to join the conversation.

Aciera
Topic Author
Offline
Administrator

6 years 4 months ago - 6 years 4 months ago #171459 by Aciera

Replied by Aciera on topic confused about velocity settings in the INI

So to be able to run the u-axis at 12000mm/min I would set
TRAJ and DISPLAY settings to 12000 x 1.25 = 16000 = 266
U-AXIS and JOINT to 12000 = 200

I'll try that.
Thanks

@bbsr_5a: Not sure what you are referring to.

Last edit: 6 years 4 months ago by Aciera.

The following user(s) said Thank You: tommylight

Please Log in or Create an account to join the conversation.

Time to create page: 0.376 seconds

Forum Menu

confused about velocity settings in the INI