two independent X at the same time.

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07 Nov 2010 16:24 - 07 Nov 2010 21:29 #5135 by Gelar
i decided to start from more simple thing - XYUV.

i got two problems that i could not solve:
1. pair UV always stops with joint following error. i've read manuals and tried to change parameters that can be responsible for this mistake but failed.
and one thing i noticed that i do not understand: one can't just define AXIS_0, 1, 6 and 7. all of them (XYZABCUV) have to be described, from 0 to 7 explicitly. that makes emc2 to load every even the most simple ngc file for a half of a minute. but in hal file i can define only that axes that are needed (0,1,6,7). so emc uses 8! axes and maybe somewhere there the PC "loses" its ability to count all of them? maybe i use a wrong word (english is not my native).

2. after redesigning the schema one pair of axis (XY) wherever it is switched works fine. but UV never makes even a single step before joint error. but GUI shows that movements occur. is there something that i could miss?

conf files:
unas.ltd.at.tut.by/9.ini
unas.ltd.at.tut.by/9.hal
Last edit: 07 Nov 2010 21:29 by Gelar.

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07 Nov 2010 16:38 #5136 by step4linux
Axis UV (AXIS_6, AXIS_7) are not mentioned in your hal

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07 Nov 2010 16:47 - 07 Nov 2010 17:19 #5137 by Gelar
the wrong file, i'm not behind the machine. but after 100 times reading manual i made a working configuration.

why did you say that all axes have to be linear? maybe this can affect.
the file is edited now.
Last edit: 07 Nov 2010 17:19 by Gelar.

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07 Nov 2010 17:58 #5141 by andypugh
Gelar wrote:

1. pair UV always stops with joint following error. i've read manuals and tried to change parameters that can be responsible for this mistake but failed.
and one thing i noticed that i do not understand: one can't just define AXIS_0, 1, 6 and 7. all of them (XYZABCUV) have to be described, from 0 to 7 explicitly. that makes emc2 to load every even the most simple ngc file for a half of a minute. but in hal file i can define only that axes that are needed (0,1,6,7). so emc uses 8! axes and maybe somewhere there the PC "loses" its ability to count all of them? maybe i use a wrong word (english is not my native).


As I think you have found by now, you were re-using the y- signals twice of U and V, which won't give the result you want.

You don't necessarily have to fully describe the unused axes in the INI file, I think you can leave them blank as long as the header line exists.

The fixed mapping between Axis-X and Joint-0 etc will be removed in a future version of emc2.

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07 Nov 2010 18:27 - 07 Nov 2010 19:17 #5142 by Gelar
why reusing if different pins are used?
i lost it, cannot reproduce it on home PC, but if i just edit ini file to use all that 8 axes, it even at this stage gives joint folowing error.
Last edit: 07 Nov 2010 19:17 by Gelar.

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07 Nov 2010 20:37 #5143 by step4linux

Gelar wrote:i lost it, cannot reproduce it on home PC, but if i just edit ini file to use all that 8 axes, it even at this stage gives joint folowing error.


I assume you got the following errors because the axis are not in the hal file.
It is not enough to have it in the ini file.

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07 Nov 2010 20:47 - 07 Nov 2010 20:49 #5144 by Gelar
i thought about it too after i saw X and Y do not produce following error(FW). everything from Z to V has FW. but... i have U and V in hal file, they are the same as X and Y only with their names, you can see it - i edited abovementioned file.
Last edit: 07 Nov 2010 20:49 by Gelar.

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07 Nov 2010 22:08 #5146 by andypugh
Can you post the hal file? (If I understand you correctly, the one that you posted first was the wrong one?)

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08 Nov 2010 05:18 - 08 Nov 2010 05:23 #5152 by Gelar
i edited it several times and reposted - it is actual and working but it always gives FW for U and V for example in g91 f1 g0 x5 y5 u5 v5
unas.ltd.at.tut.by/9.hal
and
unas.ltd.at.tut.by/9.ini
Last edit: 08 Nov 2010 05:23 by Gelar.

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08 Nov 2010 06:45 - 08 Nov 2010 07:04 #5153 by step4linux
I think the problem is in these lines:
net upos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net upos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
...
net uenable axis.2.amp-enable-out => stepgen.2.enable
and
net vpos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd
net vpos-fb stepgen.3.position-fb => axis.3.motor-pos-fb
...
net venable axis.3.amp-enable-out => stepgen.3.enable

look carefully at the numbers. stepgen.3 is stepgen number 3, this is ok.
But axis.3 is AXIS_3 and this is axis A !

so I would try:
net upos-cmd axis.6.motor-pos-cmd => stepgen.2.position-cmd
net upos-fb stepgen.2.position-fb => axis.6.motor-pos-fb
net uenable axis.6.amp-enable-out => stepgen.2.enable
and
net vpos-cmd axis.7.motor-pos-cmd => stepgen.3.position-cmd
net vpos-fb stepgen.3.position-fb => axis.7.motor-pos-fb
net venable axis.7.amp-enable-out => stepgen.3.enable

Note also:

If you skip axis in the hal file you always have the risk of follower errors.
In axis GUI you always see all axis in the "manual" menu.
If you accidentally select a non-existing axis and hit the +- buttons you have a follower error.
Could be there is a method to remove not used axis from menu, but so far I have not found it.

To avoid the confusing numbering and the risk of follower errors , I always include all axis in hal, which are defined in ini.

Gerd

EDIT: added lines for enable axes
Last edit: 08 Nov 2010 07:04 by step4linux.

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