HELP! with following error! cant figure it out
09 May 2021 17:21 #208397
by Taz
HELP! with following error! cant figure it out was created by Taz
Hi All
I have a problem getting my machine to work with MESA 7i96 and Stepper driver TB6600.i tried changing the step/dir timing with no success. i lowered the velocity and acceleration to 400mm/min, Ii still get the following error with joint xx.
Hardware:
- MESA 7i96
-TB6600 + NEMA23
Software:
-LinuxCNC version 2.8.1
-4.9.0-8-rt-686-pae
I have a problem getting my machine to work with MESA 7i96 and Stepper driver TB6600.i tried changing the step/dir timing with no success. i lowered the velocity and acceleration to 400mm/min, Ii still get the following error with joint xx.
Hardware:
- MESA 7i96
-TB6600 + NEMA23
Software:
-LinuxCNC version 2.8.1
-4.9.0-8-rt-686-pae
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09 May 2021 18:50 #208403
by PCW
Replied by PCW on topic HELP! with following error! cant figure it out
Not sure what's going on, the hal/ini files look OK at first glance.
What joint has following errors?
Are there any other errors?
What joint has following errors?
Are there any other errors?
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09 May 2021 19:09 - 09 May 2021 19:10 #208404
by Taz
Replied by Taz on topic HELP! with following error! cant figure it out
My machine setup is XYYZ lead screw driven.
So most of the time I get joint 0 (X axis) I kept changing step/dir timings now I get following error joint 1 & 2. Now I think of it, it happened with the same software and post-processor. I used aspire 3D carving, maybe I should try a different software, do you think that would be a cause of the following error?
My LinuxCNC message was task error 942 at command 12045
So most of the time I get joint 0 (X axis) I kept changing step/dir timings now I get following error joint 1 & 2. Now I think of it, it happened with the same software and post-processor. I used aspire 3D carving, maybe I should try a different software, do you think that would be a cause of the following error?
My LinuxCNC message was task error 942 at command 12045
Last edit: 09 May 2021 19:10 by Taz.
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09 May 2021 19:17 - 09 May 2021 19:17 #208405
by PCW
Replied by PCW on topic HELP! with following error! cant figure it out
I tried your hal and ini files and I don't see any issues
Its not likely bad gcode could cause a following error but I guess
if it triggered a LinuxCNC bug it could.
Does something simple like the LinuxCNC text work?
Step timings are probably not significant here (you are a long way
from going fast enough to run into step timing limits)
Its not likely bad gcode could cause a following error but I guess
if it triggered a LinuxCNC bug it could.
Does something simple like the LinuxCNC text work?
Step timings are probably not significant here (you are a long way
from going fast enough to run into step timing limits)
Last edit: 09 May 2021 19:17 by PCW.
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09 May 2021 19:29 #208407
by Taz
yes, i just ran it and worked perfectly!. i ran few V-carving jobs, simple texts and objects. i did not have any issues if i recall correctly. i attached the gcode i used. it would run fine till lines 11k and then it starts giving me the issue.
Replied by Taz on topic HELP! with following error! cant figure it out
I tried your hal and ini files and I don't see any issues
Its not likely bad gcode could cause a following error but I guess
if it triggered a LinuxCNC bug it could.
Does something simple like the LinuxCNC text work?
Step timings are probably not significant here (you are a long way
from going fast enough to run into step timing limits)
yes, i just ran it and worked perfectly!. i ran few V-carving jobs, simple texts and objects. i did not have any issues if i recall correctly. i attached the gcode i used. it would run fine till lines 11k and then it starts giving me the issue.
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09 May 2021 19:32 - 09 May 2021 19:58 #208408
by Taz
Replied by Taz on topic HELP! with following error! cant figure it out
somebody posted this gcode to test step/dir timings. idk if it does work because i didnt get any errors.
the output from linuxCNC
( test program to see if Z axis loses position )
( msg, test 1 of X axis configuration )
G21 #1000=100 ( loop 100 times )
( this loop has delays after moves )
( tests acc and velocity settings )
o100 while [#1000]
G0 X1.000
G4 P0.250
G0 X0.500
G4 P0.250
#1000 = [#1000 - 1]
o100 endwhile
( msg, test 2 of X axis configuration S to continue)
M1 (stop here)
#1000=100 ( loop 100 times )
( the next loop has no delays after moves )
( tests direction hold times on driver config and also max accel setting )
o101 while [#1000]
G0 X1.000
G0 X0.500
#1000 = [#1000 - 1]
o101 endwhile
( msg, Done...X should be exactly .5" above table )
M2the output from linuxCNC
LINUXCNC - 2.8.1
Machine configuration directory is '/home/taz/linuxcnc/configs/workBee_Base'
Machine configuration file is 'workBee_Base.ini'
INIFILE=/home/taz/linuxcnc/configs/workBee_Base/workBee_Base.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=XYYZ
KINEMATICS=trivkins coordinates=XYYZ kinstype=BOTH
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Found file(REL): ./workBee_Base.hal
Found file(REL): ./custom.hal
Starting TASK program: milltask
Starting DISPLAY program: axis
62914563
joint 0 following error
emc/task/taskintf.cc 942: Error on joint 0, command number 5063
Last edit: 09 May 2021 19:58 by Taz.
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09 May 2021 21:25 #208422
by PCW
Replied by PCW on topic HELP! with following error! cant figure it out
The test program runs fine here on a 7I96 with your hal/ini files
Very odd error, may need to plot the commanded and feedback positions
with halscope to determine what's going on
Very odd error, may need to plot the commanded and feedback positions
with halscope to determine what's going on
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09 May 2021 22:30 - 09 May 2021 22:52 #208430
by Taz
Replied by Taz on topic HELP! with following error! cant figure it out
I’ll try and get those. I just ran the 3DChips test that comes with LinuxCNC examples without any hiccups @1000mm/mm.
for some reason my halscope isnt capturing any data.
for some reason my halscope isnt capturing any data.
Last edit: 09 May 2021 22:52 by Taz.
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10 May 2021 00:54 - 10 May 2021 01:01 #208442
by Taz
i dont know what happened! now im running the same 3d gcode i was having trouble with. its still running past 38k lines which i couldnt have done before without getting the following error with joint 0 or joint 1/2.
so ive been taking screenshots every now and then. im attaching them.
here is my config files
Replied by Taz on topic HELP! with following error! cant figure it out
I’ll try and get those. I just ran the 3DChips test that comes with LinuxCNC examples without any hiccups @1000mm/mm.
for some reason my halscope isnt capturing any data.
i dont know what happened! now im running the same 3d gcode i was having trouble with. its still running past 38k lines which i couldnt have done before without getting the following error with joint 0 or joint 1/2.
so ive been taking screenshots every now and then. im attaching them.
here is my config files
# Generated by PNCconf at Sun May 9 17:06:17 2021
# Using LinuxCNC version: 2.8
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = workBee_Base
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = axis
EMBED_TAB_NAME = GladeVCP
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -H gvcp_call_list.hal -x {XID} gvcp-panel.ui
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/taz/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 8.333333
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz
[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
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
[HMOT]
# **** This is for info only ****
CARD0=hm2_7i96.0
[HAL]
HALUI = halui
HALFILE = workBee_Base.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[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 )
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH
[TRAJ]
COORDINATES = XYYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.00
MAX_LINEAR_VELOCITY = 20.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1
#******************************************
[AXIS_X]
MAX_VELOCITY = 16.6666666667
MAX_ACCELERATION = 10.0
MIN_LIMIT = -200.0
MAX_LIMIT = 300.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 2.0
MAX_VELOCITY = 16.6666666667
MAX_ACCELERATION = 10.0
# 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 = 20.83
STEPGEN_MAXACCEL = 12.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 1500
STEPLEN = 7000
STEPSPACE = 500
STEP_SCALE = 200.0
MIN_LIMIT = -200.0
MAX_LIMIT = 300.0
HOME_OFFSET = 0.0
#******************************************
#******************************************
[AXIS_Y]
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 12.0
MIN_LIMIT = -400.0
MAX_LIMIT = 500.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 2.0
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 12.0
# 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 = 25.00
STEPGEN_MAXACCEL = 15.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 1000
STEPLEN = 5000
STEPSPACE = 500
STEP_SCALE = 200.0
MIN_LIMIT = -400.0
MAX_LIMIT = 500.0
HOME_OFFSET = 0.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 2.0
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 12.0
# 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 = 25.00
STEPGEN_MAXACCEL = 15.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 1000
STEPLEN = 5000
STEPSPACE = 500
STEP_SCALE = 200.0
MIN_LIMIT = -400.0
MAX_LIMIT = 500.0
HOME_OFFSET = 0.0
#******************************************
#******************************************
[AXIS_Z]
MAX_VELOCITY = 13.3333333333
MAX_ACCELERATION = 10.0
MIN_LIMIT = -30.0
MAX_LIMIT = 30.0
[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 2.0
MAX_VELOCITY = 13.3333333333
MAX_ACCELERATION = 10.0
# 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 = 16.67
STEPGEN_MAXACCEL = 12.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 1500
STEPLEN = 7000
STEPSPACE = 500
STEP_SCALE = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 30.0
HOME_OFFSET = 0.0
#******************************************
[SPINDLE_0]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 2000.0# Generated by PNCconf at Sun May 9 17:06:17 2021
# Using LinuxCNC version: 2.8
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx"
setp hm2_7i96.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.s
addf hm2_7i96.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.y2.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_7i96.0.write servo-thread
# external output signals
# --- MACHINE-IS-ENABLED ---
net machine-is-enabled => hm2_7i96.0.ssr.00.out-02
# --- DOUT-00 ---
net dout-00 => hm2_7i96.0.ssr.00.out-03
# --- SPINDLE-ENABLE ---
net spindle-enable => hm2_7i96.0.ssr.00.out-04
# external input signals
# --- PROBE-IN ---
net probe-in <= hm2_7i96.0.gpio.010.in
#*******************
# AXIS X JOINT 0
#*******************
setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.x.maxerror 0.012700
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output
# Step Gen signals/setup
setp hm2_7i96.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i96.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i96.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i96.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i96.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i96.0.stepgen.00.step_type 0
setp hm2_7i96.0.stepgen.00.control-type 1
setp hm2_7i96.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i96.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output <= hm2_7i96.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i96.0.stepgen.00.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i96.0.stepgen.00.enable
# ---setup home / limit switch signals---
net x-home-sw => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in
#*******************
# AXIS Y JOINT 1
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y.maxerror 0.012700
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output
# Step Gen signals/setup
setp hm2_7i96.0.stepgen.03.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i96.0.stepgen.03.dirhold [JOINT_1]DIRHOLD
setp hm2_7i96.0.stepgen.03.steplen [JOINT_1]STEPLEN
setp hm2_7i96.0.stepgen.03.stepspace [JOINT_1]STEPSPACE
setp hm2_7i96.0.stepgen.03.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i96.0.stepgen.03.step_type 0
setp hm2_7i96.0.stepgen.03.control-type 1
setp hm2_7i96.0.stepgen.03.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i96.0.stepgen.03.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= hm2_7i96.0.stepgen.03.velocity-cmd
net y-pos-fb <= hm2_7i96.0.stepgen.03.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i96.0.stepgen.03.enable
# ---setup home / limit switch signals---
net y-home-sw => joint.1.home-sw-in
net y-neg-limit => joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in
#*******************
# Tandem AXIS Y2 JOINT 2
#*******************
setp pid.y2.Pgain [JOINT_2]P
setp pid.y2.Igain [JOINT_2]I
setp pid.y2.Dgain [JOINT_2]D
setp pid.y2.bias [JOINT_2]BIAS
setp pid.y2.FF0 [JOINT_2]FF0
setp pid.y2.FF1 [JOINT_2]FF1
setp pid.y2.FF2 [JOINT_2]FF2
setp pid.y2.deadband [JOINT_2]DEADBAND
setp pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.y2.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y2.maxerror 0.012700
net y2-index-enable <=> pid.y2.index-enable
net y2-enable => pid.y2.enable
net y2-pos-cmd => pid.y2.command
net y2-pos-fb => pid.y2.feedback
net y2-output <= pid.y2.output
# Step Gen signals/setup for tandem axis
setp hm2_7i96.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i96.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i96.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i96.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i96.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i96.0.stepgen.02.step_type 0
setp hm2_7i96.0.stepgen.02.control-type 1
setp hm2_7i96.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i96.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y2-pos-cmd <= joint.2.motor-pos-cmd
net y2-vel-cmd <= joint.2.vel-cmd
net y2-output <= hm2_7i96.0.stepgen.02.velocity-cmd
net y2-pos-fb <= hm2_7i96.0.stepgen.02.position-fb
net y2-pos-fb => joint.2.motor-pos-fb
net y2-enable <= joint.2.amp-enable-out
net y2-enable => hm2_7i96.0.stepgen.02.enable
# ---setup home / limit switch signals---
net y2-home-sw => joint.2.home-sw-in
net y2-neg-limit => joint.2.neg-lim-sw-in
net y2-pos-limit => joint.2.pos-lim-sw-in
#*******************
# AXIS Z JOINT 3
#*******************
setp pid.z.Pgain [JOINT_3]P
setp pid.z.Igain [JOINT_3]I
setp pid.z.Dgain [JOINT_3]D
setp pid.z.bias [JOINT_3]BIAS
setp pid.z.FF0 [JOINT_3]FF0
setp pid.z.FF1 [JOINT_3]FF1
setp pid.z.FF2 [JOINT_3]FF2
setp pid.z.deadband [JOINT_3]DEADBAND
setp pid.z.maxoutput [JOINT_3]MAX_OUTPUT
setp pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.z.maxerror 0.012700
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
net z-output <= pid.z.output
# Step Gen signals/setup
setp hm2_7i96.0.stepgen.01.dirsetup [JOINT_3]DIRSETUP
setp hm2_7i96.0.stepgen.01.dirhold [JOINT_3]DIRHOLD
setp hm2_7i96.0.stepgen.01.steplen [JOINT_3]STEPLEN
setp hm2_7i96.0.stepgen.01.stepspace [JOINT_3]STEPSPACE
setp hm2_7i96.0.stepgen.01.position-scale [JOINT_3]STEP_SCALE
setp hm2_7i96.0.stepgen.01.step_type 0
setp hm2_7i96.0.stepgen.01.control-type 1
setp hm2_7i96.0.stepgen.01.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_7i96.0.stepgen.01.maxvel [JOINT_3]STEPGEN_MAXVEL
setp hm2_7i96.0.stepgen.01.direction.invert_output true
# ---closedloop stepper signals---
net z-pos-cmd <= joint.3.motor-pos-cmd
net z-vel-cmd <= joint.3.vel-cmd
net z-output <= hm2_7i96.0.stepgen.01.velocity-cmd
net z-pos-fb <= hm2_7i96.0.stepgen.01.position-fb
net z-pos-fb => joint.3.motor-pos-fb
net z-enable <= joint.3.amp-enable-out
net z-enable => hm2_7i96.0.stepgen.01.enable
# ---setup home / limit switch signals---
net z-home-sw => joint.3.home-sw-in
net z-neg-limit => joint.3.neg-lim-sw-in
net z-pos-limit => joint.3.pos-lim-sw-in
#*******************
# SPINDLE
#*******************
setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
net dout-00 <= motion.digital-out-00
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
Last edit: 10 May 2021 01:01 by Taz.
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