another noob trying to tune the servo
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19 Sep 2018 22:11 #117768
by tommylight
Replied by tommylight on topic another noob trying to tune the servo
Can you download and boot Linux Mint Mate version, in the preferences menu there is an entry named "disks", open that and do a benchmark of the said SSD, check that the read and write lines are linear with no spikes, if there are huge spikes it points to serial ata problems on the mainboard. Had a fair share of those.
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19 Sep 2018 22:27 #117769
by Psykhon
Replied by Psykhon on topic another noob trying to tune the servo
It was the SMI!, after unsuccessfully tried to recompile the smi module to accept the ich10 chipset, just downloaded the smictrl tool and this was the result
## RTAI latency calibration tool ##
# period = 100000 (ns)
# average time = 1 (s)
# use the FPU
# start the timer
# timer_mode is oneshot
RTAI Testsuite - USER latency (all data in nanoseconds)
2018/09/19 19:23:48
RTH| lat min| ovl min| lat avg| lat max| ovl max| overruns
RTD| -1457| -1457| -1436| -878| -878| 0
RTD| -1456| -1457| -1431| -667| -667| 0
RTD| -1456| -1457| -1430| 2759| 2759| 0
RTD| -1455| -1457| -1435| -916| 2759| 0
RTD| -1456| -1457| -1438| -997| 2759| 0
RTD| -1456| -1457| -1431| 3546| 3546| 0
RTD| -1456| -1457| -1435| -687| 3546| 0
RTD| -1456| -1457| -1436| 2710| 3546| 0
RTD| -1456| -1457| -1433| -1021| 3546| 0
RTD| -1456| -1457| -1430| -645| 3546| 0
RTD| -1458| -1458| -1437| -682| 3546| 0
RTD| -1456| -1458| -1437| -782| 3546| 0
RTD| -1456| -1458| -1437| -897| 3546| 0
RTD| -1456| -1458| -1429| -642| 3546| 0
RTD| -1456| -1458| -1435| -902| 3546| 0
RTD| -1456| -1458| -1433| -1005| 3546| 0
RTD| -1456| -1458| -1434| -680| 3546| 0
RTD| -1456| -1458| -1432| -662| 3546| 0
RTD| -1456| -1458| -1437| 3554| 3554| 0
^CRTD| -1456| -1458| -1437| 3554| 3554| 0
also added this simple script to init.d:
#!/bin/sh
### BEGIN INIT INFO
# Provides: blabla
# Required-Start: $syslog
# Required-Stop: $syslog
# Default-Start: 2 3 4 5
# Default-Stop: 0 1 6
# Short-Description: blabla
# Description:
#
### END INIT INFO
smictrl -s 0
## RTAI latency calibration tool ##
# period = 100000 (ns)
# average time = 1 (s)
# use the FPU
# start the timer
# timer_mode is oneshot
RTAI Testsuite - USER latency (all data in nanoseconds)
2018/09/19 19:23:48
RTH| lat min| ovl min| lat avg| lat max| ovl max| overruns
RTD| -1457| -1457| -1436| -878| -878| 0
RTD| -1456| -1457| -1431| -667| -667| 0
RTD| -1456| -1457| -1430| 2759| 2759| 0
RTD| -1455| -1457| -1435| -916| 2759| 0
RTD| -1456| -1457| -1438| -997| 2759| 0
RTD| -1456| -1457| -1431| 3546| 3546| 0
RTD| -1456| -1457| -1435| -687| 3546| 0
RTD| -1456| -1457| -1436| 2710| 3546| 0
RTD| -1456| -1457| -1433| -1021| 3546| 0
RTD| -1456| -1457| -1430| -645| 3546| 0
RTD| -1458| -1458| -1437| -682| 3546| 0
RTD| -1456| -1458| -1437| -782| 3546| 0
RTD| -1456| -1458| -1437| -897| 3546| 0
RTD| -1456| -1458| -1429| -642| 3546| 0
RTD| -1456| -1458| -1435| -902| 3546| 0
RTD| -1456| -1458| -1433| -1005| 3546| 0
RTD| -1456| -1458| -1434| -680| 3546| 0
RTD| -1456| -1458| -1432| -662| 3546| 0
RTD| -1456| -1458| -1437| 3554| 3554| 0
^CRTD| -1456| -1458| -1437| 3554| 3554| 0
also added this simple script to init.d:
#!/bin/sh
### BEGIN INIT INFO
# Provides: blabla
# Required-Start: $syslog
# Required-Stop: $syslog
# Default-Start: 2 3 4 5
# Default-Stop: 0 1 6
# Short-Description: blabla
# Description:
#
### END INIT INFO
smictrl -s 0
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19 Sep 2018 22:32 #117770
by Psykhon
Replied by Psykhon on topic another noob trying to tune the servo
9 us with 9glxgears runing, I guess this is more than ok right?
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20 Sep 2018 00:03 #117771
by PCW
Replied by PCW on topic another noob trying to tune the servo
That's great, you probably can do without the isolcpus as that will just slow down the non-real time processes and make the CPU sluggish. Even 20-50 usec of latency wont have any noticeable effect on LinuxCNCs performance.
(as long as you are not generating steps in software for a parallel port setup)
(as long as you are not generating steps in software for a parallel port setup)
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20 Sep 2018 17:47 #117808
by Psykhon
Replied by Psykhon on topic another noob trying to tune the servo
dam it, cannot get the stepper on axis Z to work, it trows axis 2 following error on every attempt, here is my hal, its modified from one thats generated by pncconf, so there its some cleaning todo
# Generated by PNCconf at Tue Sep 11 20:55:58 2018
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_stepgens=4 sserial_port_0=00000x"
setp hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.s
addf hm2_5i25.0.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.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_5i25.0.write servo-thread
# external output signals
# external input signals
#net axis.0.home-sw-in
#net axis.0.neg-lim-sw-in hm2_5i25.0.7i77.0.0.input-00
#net axis.0.pos-lim-sw-in hm2_5i25.0.7i77.0.0.input-00
net x-home-sw axis.0.home-sw-in <= hm2_5i25.0.7i77.0.0.input-00-not
#/net y-neg-limit axis.0.neg-lim-sw-in <= hm2_5i25.0.7i77.0.0.input-00
net x-pos-limit axis.0.pos-lim-sw-in <= hm2_5i25.0.7i77.0.0.input-01-not
net y-home-sw axis.1.home-sw-in <= hm2_5i25.0.7i77.0.0.input-02-not
#/net y-neg-limit axis.1.neg-lim-sw-in <= hm2_5i25.0.7i77.0.0.input-00
net y-pos-limit axis.1.pos-lim-sw-in <= hm2_5i25.0.7i77.0.0.input-03-not
net z-home-sw axis.2.home-sw-in <= hm2_5i25.0.7i77.0.0.input-04-not
# --- ESTOP-IN ---
net estop-ext <= hm2_5i25.0.7i77.0.0.input-11
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.x.error-previous-target true
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output
# ---PWM Generator signals/setup---
#setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_0]OUTPUT_SCALE
#setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_0]OUTPUT_MIN_LIMIT
#setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
net x-output => hm2_5i25.0.7i77.0.1.analogout1
net x-pos-cmd axis.0.motor-pos-cmd
net x-enable axis.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable hm2_5i25.0.7i77.0.1.analogena
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.01.counter-mode 0
setp hm2_5i25.0.encoder.01.filter 1
setp hm2_5i25.0.encoder.01.index-invert 0
setp hm2_5i25.0.encoder.01.index-mask 0
setp hm2_5i25.0.encoder.01.index-mask-invert 0
setp hm2_5i25.0.encoder.01.scale [AXIS_0]ENCODER_SCALE
net x-pos-fb <= hm2_5i25.0.encoder.01.position
net x-vel-fb <= hm2_5i25.0.encoder.01.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.01.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
#net x-home-sw => axis.1.home-sw-in
#net x-neg-limit => axis.1.neg-lim-sw-in
#net x-pos-limit => axis.1.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp pid.y.error-previous-target true
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_1]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_1]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
net y-output => hm2_5i25.0.7i77.0.1.analogout0
net y-pos-cmd axis.1.motor-pos-cmd
net y-enable axis.1.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale [AXIS_1]ENCODER_SCALE
net y-pos-fb <= hm2_5i25.0.encoder.00.position
net y-vel-fb <= hm2_5i25.0.encoder.00.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net y-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
#*******************
# AXIS Z
#*******************
#setp pid.z.Pgain [AXIS_2]P
#setp pid.z.Igain [AXIS_2]I
#setp pid.z.Dgain [AXIS_2]D
#setp pid.z.bias [AXIS_2]BIAS
#setp pid.z.FF0 [AXIS_2]FF0
#setp pid.z.FF1 [AXIS_2]FF1
#setp pid.z.FF2 [AXIS_2]FF2
#setp pid.z.deadband [AXIS_2]DEADBAND
#setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
#setp pid.z.error-previous-target true
#setp pid.z.maxerror .0005
#net z-index-enable <=> pid.z.index-enable
#net z-enable => pid.z.enable
#net z-pos-cmd => pid.z.command
#net z-vel-cmd => pid.z.command-deriv
#net z-pos-fb => pid.z.feedback
#net z-output => pid.z.output
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_2]DIRSETUP
setp hm2_5i25.0.stepgen.00.dirhold [AXIS_2]DIRHOLD
setp hm2_5i25.0.stepgen.00.steplen [AXIS_2]STEPLEN
setp hm2_5i25.0.stepgen.00.stepspace [AXIS_2]STEPSPACE
setp hm2_5i25.0.stepgen.00.position-scale [AXIS_2]STEP_SCALE
setp hm2_5i25.0.stepgen.00.step_type 0
setp hm2_5i25.0.stepgen.00.control-type 0
setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_2]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.00.maxvel [AXIS_2]STEPGEN_MAXVEL
# --- stepper signals---
net z-pos-cmd axis.2.motor-pos-cmd => hm2_5i25.0.stepgen.00.position-cmd
net z-pos-fb axis.2.motor-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
#net z-vel-cmd <= axis.2.joint-vel-cmd
#net <= hm2_5i25.0.stepgen.00.velocity-cmd
#
#net z-pos-fb => axis.2.motor-pos-fb
#// ---enable del stepgen0 de 7i78 esta en 7i77 salida 0 y DM556 habilita invertido
setp hm2_5i25.0.7i77.0.0.output-00-invert 1
net z-enable <= axis.2.amp-enable-out
net z-enable => hm2_5i25.0.7i77.0.0.output-00
# ---setup home / limit switch signals---
net z-home-sw => axis.2.home-sw-in
net z-neg-limit => axis.2.neg-lim-sw-in
net z-pos-limit => axis.2.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]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
# ---digital potentionmeter output signals/setup---
#setp hm2_5i25.0.7i78.0.3.spinout-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
#setp hm2_5i25.0.7i78.0.3.spinout-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
#setp hm2_5i25.0.7i78.0.3.spinout-scalemax [SPINDLE_9]OUTPUT_SCALE
#net spindle-output => hm2_5i25.0.pwmgen.pwm_frequency #hm2_5i25.0.7i78.0.3.spinout
#net spindle-enable => hm2_5i25.0.pwmgen.00.enable #hm2_5i25.0.7i78.0.3.spinena
#net spindle-ccw => hm2_5i25.0.7i78.0.3.spindir
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-enable <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
net jog-y-pos halui.jog.1.plus
net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.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---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
#net estop-out => iocontrol.0.emc-enable-in
net estop-ext => 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
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20 Sep 2018 18:22 - 20 Sep 2018 18:30 #117810
by PCW
Replied by PCW on topic another noob trying to tune the servo
This line being commented out will guarantee a following error:
#addf pid.z.do-pid-calcs servo-thread
Ahh nevermind looks like you changed the stepgen to position mode without the PID
(I would not suggest this in general as the PID stepgen control is superior though position mode should work)
can you post your ini file?
#addf pid.z.do-pid-calcs servo-thread
Ahh nevermind looks like you changed the stepgen to position mode without the PID
(I would not suggest this in general as the PID stepgen control is superior though position mode should work)
can you post your ini file?
Last edit: 20 Sep 2018 18:30 by PCW.
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20 Sep 2018 18:41 #117811
by Psykhon
Replied by Psykhon on topic another noob trying to tune the servo
# Generated by PNCconf at Tue Sep 11 20:55:58 2018
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = ProtoServoCnc
DEBUG = 0
[DISPLAY]
DISPLAY = axis
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/psykhon/linuxcnc/nc_files
INCREMENTS = 100mm 50mm 20mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 50.000000
MAX_LINEAR_VELOCITY = 600.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 300.000000
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
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25
[HAL]
HALUI = halui
HALFILE = ProtoServoCnc.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 500.0
MAX_ACCELERATION = 2000.0
P = 1.3
I = 0
D = 0
FF0 = 0
FF1 = 0.0078
FF2 = 7e-05
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = 500
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -10.000000
HOME_LATCH_VEL = -1
HOME_FINAL_VEL= 10
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 500.0
MAX_ACCELERATION = 2000.0
P = 1.4
I = 0
D = 0
FF0 = 0
FF1 = 0.0074
FF2 = 1e-05
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = 500
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -10.000000
HOME_LATCH_VEL = -1
HOME_FINAL_VEL= 10
HOME_USE_INDEX = NO
HOME_SEQUENCE = 2
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# 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 = 5
STEPGEN_MAXACCEL = 937.5
P = 1
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 800
MIN_LIMIT = -100.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 10.000000
HOME_LATCH_VEL = 1
HOME_FINAL_VEL= -10
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
#********************
# Spindle
#********************
[SPINDLE_9]
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
OUTPUT_SCALE = 2000
OUTPUT_MIN_LIMIT = -2000
OUTPUT_MAX_LIMIT = 2000
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = ProtoServoCnc
DEBUG = 0
[DISPLAY]
DISPLAY = axis
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/psykhon/linuxcnc/nc_files
INCREMENTS = 100mm 50mm 20mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 50.000000
MAX_LINEAR_VELOCITY = 600.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 300.000000
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
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25
[HAL]
HALUI = halui
HALFILE = ProtoServoCnc.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 500.0
MAX_ACCELERATION = 2000.0
P = 1.3
I = 0
D = 0
FF0 = 0
FF1 = 0.0078
FF2 = 7e-05
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = 500
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -10.000000
HOME_LATCH_VEL = -1
HOME_FINAL_VEL= 10
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 500.0
MAX_ACCELERATION = 2000.0
P = 1.4
I = 0
D = 0
FF0 = 0
FF1 = 0.0074
FF2 = 1e-05
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = 500
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -10.000000
HOME_LATCH_VEL = -1
HOME_FINAL_VEL= 10
HOME_USE_INDEX = NO
HOME_SEQUENCE = 2
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# 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 = 5
STEPGEN_MAXACCEL = 937.5
P = 1
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 800
MIN_LIMIT = -100.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 10.000000
HOME_LATCH_VEL = 1
HOME_FINAL_VEL= -10
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
#********************
# Spindle
#********************
[SPINDLE_9]
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
OUTPUT_SCALE = 2000
OUTPUT_MIN_LIMIT = -2000
OUTPUT_MAX_LIMIT = 2000
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20 Sep 2018 18:48 #117812
by Psykhon
Replied by Psykhon on topic another noob trying to tune the servo
"(I would not suggest this in general as the PID stepgen control is superior though position mode should work)
can you post your ini file?"
It was on PID originally but same error, so I tried to copy the same config for that axis as it was previously when the machine was steppers only and g540
can you post your ini file?"
It was on PID originally but same error, so I tried to copy the same config for that axis as it was previously when the machine was steppers only and g540
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20 Sep 2018 19:16 #117819
by PCW
Replied by PCW on topic another noob trying to tune the servo
STEPGEN_MAXVEL = 5
^ This needs to be 25% larger than this:
MAX_VELOCITY = 25.0
^ This needs to be 25% larger than this:
MAX_VELOCITY = 25.0
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20 Sep 2018 20:57 #117823
by Psykhon
Replied by Psykhon on topic another noob trying to tune the servo
no luck, tried 25% larger and more , also tried increasing STEPGEN_MAXACCEL
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# 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 = 40
STEPGEN_MAXACCEL = 1500
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# 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 = 40
STEPGEN_MAXACCEL = 1500
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