estop and manual axis move with encoder

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18 Dec 2012 06:22 #27817 by monkey
Hi,

I have a problem with baldor motors (+-10V input to move, encoder for feedback).

I dont know how to configure emc like this:
- home machine (XXY configuration, gantrykins, emc 2.4)
- next click F2 and disable engines etc (machine is homed but disabled)
- use hand and move one or two axis (change position without use arrows etc)
- click F2 for enable engines
- machine dont move and work without follow error

I seen last laser on emc with this configuration and work. But I dont know how to do it :(

When i move axis then pos-cmd and pos-fb changes correct (read from encoders) but when I click F2 then it want move to old position (if offset is not bigger than FERROR from ini, else show following error). I dont know why emc want set old position if pos-cmd is changed and is correct? Emc want overide this from buffer or something?

I use PID, pwm, joint gen and I connect feedback and command pins together.


Sorry for my bad English.

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18 Dec 2012 11:44 #27821 by PCW
I wonder if this is gantrykins specific?

If I start a generic mill configuration (2.5.1) with servos ,I can move the axis encoders around and pos-cmd follows pos-fb, and when I enable EMC they still track (no jump)

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18 Dec 2012 15:16 #27824 by monkey
Top of HAL file:

loadrt hostmot2
loadrt hm2_pci config="firmware=hm2/5i22/SVST8_8.BIT num_encoders=4 num_pwmgens=4 num_stepgens=0"
loadrt [KINS]KINEMATICS coordinates=XXY
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_dio=8


X axis:

net motor.00.command pid.0.output hm2_5i22.0.pwmgen.00.value
net motor.00.enable pid.0.enable joint.0.amp-enable-out hm2_5i22.0.pwmgen.00.enable hm2_5i22.0.pwmgen.03.enable
net motor.00.fault debounce.2.0.out joint.0.amp-fault-in
net motor.00.fault-noise debounce.2.0.in hm2_5i22.0.gpio.041.in
net motor.00.home debounce.0.0.out joint.0.home-sw-in
net motor.00.homed joint.0.homed and2.14.in1
net motor.00.limit debounce.1.1.out joint.0.neg-lim-sw-in joint.0.pos-lim-sw-in
net motor.00.limit-noise debounce.1.1.in debounce.0.0.in hm2_5i22.0.gpio.056.in_not
net motor.00.pos-cmd vctrl.joint.0.pos-cmd pid.0.command joint.0.motor-pos-cmd
net motor.00.pos-fb pid.0.feedback joint.0.motor-pos-fb hm2_5i22.0.encoder.00.position
net motor.00.pid-error pid.0.error



And config from ini:

[KINS]
KINEMATICS = gantrykins
JOINTS = 3




Can I change gantrykins to generic mill if I have 2 X's ?

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18 Dec 2012 15:56 - 18 Dec 2012 15:59 #27826 by cncbasher
why are you using an old version 2.4 ?

you may find you get the errors because you have 2 x axis ( and I presume 2 encoders )
i.e the 2 x axis encoders are fighting each other for x axis position , or something similar , so their becomes an error between them

as PCW has mentioned this could be gantrykins related , perhaps try upgrading to 2.5.1

post your hal file and ini as attachments
Last edit: 18 Dec 2012 15:59 by cncbasher.

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18 Dec 2012 16:10 #27827 by monkey
ok, I will try with 2.5.1. But laser have 2.4 or older EMC.

config files added

File Attachment:

File Name: core.hal
File Size:17 KB


File Attachment:

File Name: machine.ini
File Size:9 KB
Attachments:

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