Gantry machine progress

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18 Aug 2017 05:46 #97690 by rodw
Replied by rodw on topic Gantry machine progres

Hi
rodw replied I would delete the linuxcnc.var file
where can i find the linux var.??


In your config folder


the home limit switch send to the 7i77 analog card 24volts


But is the 24 volt signal connected to the right joint in your hal file? I suspect it isn't. Check it carefully.
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18 Aug 2017 18:12 - 25 Aug 2017 05:26 #97719 by Yannis
Replied by Yannis on topic Gantry machine progres
Hi
i manage to home the machine correct :) B) ;) :P :P (i think)
i make so match changes that i lost counting
Last edit: 25 Aug 2017 05:26 by Yannis.

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18 Aug 2017 18:18 #97720 by Yannis
Replied by Yannis on topic Gantry machine progres
andypugh wrote
You need to connect an input to the HAL pin "motion.spindle.at-speed" and then cutting moves are paused until that pin goes true.
can i use the p command in the g code after the s command instead??

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19 Aug 2017 10:11 #97733 by Yannis
Replied by Yannis on topic Gantry machine progres
Hi
i wonder if there is a clock inside linuxcnc to count the the processing time
it is very useful

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19 Aug 2017 12:43 #97742 by Todd Zuercher
Yes there is a way to measure the time it takes to run a g-code program. It usually requires setting up an auxiliary screen panel such as Pyvcp or Gladevcp (I don't know if it is built into any of the newer GUIs but I doubt it.)
linuxcnc.org/docs/html/man/man9/time.9.html
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20 Aug 2017 05:33 #97758 by Yannis
Replied by Yannis on topic Gantry machine progres
Hi
the procedure to retrofit is 2 step ahead 1.5 backwards
the latest issue is again with the PID settings of the servos*BRU 200*
1)i have tune the X axis and it look great at performance
the settings was
# Joint 0
[JOINT_0]
#********************
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 18500.0
MAX_ACCELERATION = 120.0
P = 2
I = 0
D = 0
FF0 = 0
FF1 = 0.018
FF2 = 0
BIAS = 0
DEADBAND = 0.001
MAX_OUTPUT = 10
ENCODER_SCALE = 800
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -0.01
MAX_LIMIT = 3500.0
HOME_OFFSET = 5.0
the motor was unhooked from the timing belt and the info for the encoder was from the internet
when i connect the motor to the timing belt i saw that the ENCODER_SCALE = 800 was wrong
i set the right value witch is ENCODER_SCALE = 400 after that change the motor was just not working as before
i try with diferrent PID settings but i can not reach the earlier performance
the FERROR = 10.0
MIN_FERROR = 1.0
OUTPUT_SCALE = 10
was unchanged (default values)

2) in the C axis (Joint 4) i want to change the direction of rotation
to do that i change the OUTPUT_SCALE = 10 to OUTPUT_SCALE = -10
after that adjustment the motor fault
# Joint 4
[JOINT_4]
#********************
TYPE = ANGULAR
HOME = 0.0
FERROR = 2.5
MIN_FERROR = 0.5
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 6.0
P = 1.25
I = 0
D = 0
FF0 = 0
FF1 = 0.035
FF2 = 0
BIAS = 0
DEADBAND = 0.001
MAX_OUTPUT = 10
ENCODER_SCALE = 800
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.0
any suggestions??

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25 Aug 2017 05:25 #97977 by Yannis
Replied by Yannis on topic Gantry machine progres
Hi
yesterday i make my first engraving work
i wool like to ask if there is a way in the home sequence first to move the Z axis all the way up
and after that to move the other axis?
(to prevent collision with parts or braking the tools)
thanks

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25 Aug 2017 05:50 #97979 by rodw
Replied by rodw on topic Gantry machine progress
Yes, I realised I need to do this too.

In the ini file, HOME_SEQUENCE sets the order of homing so make sure the Z is a lower positive number than the other exes (and keep your joint axis with negative numbers)
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25 Aug 2017 10:19 #97987 by Yannis
Replied by Yannis on topic Gantry machine progress
I change the value
now i have X=2 Y1=-1 Y2=-1 Z=1 C=2
the result is first homing Y1,Y2,Z simultaneous and then the X and C

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25 Aug 2017 11:14 - 25 Aug 2017 11:17 #97988 by Clive S
Last edit: 25 Aug 2017 11:17 by Clive S.
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