Bipod setup
11 Aug 2010 10:59 #3690
by dab77
Replied by dab77 on topic Re:Bipod setup
hi, this is my .hal file:
i have the feedback lines for every axis. the file was done by stepconf wizard. i just added the yenable and zenable needed by my driver.
loadrt dab_bipodkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x378 out "
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd <= motion.spindle-speed-out
net xdir => parport.0.pin-01-out
net zstep => parport.0.pin-03-out
setp parport.0.pin-03-out-reset 1
net xenable => parport.0.pin-04-out
net zenable => parport.0.pin-05-out
net zdir => parport.0.pin-06-out
net ydir => parport.0.pin-07-out
setp parport.0.pin-07-out-invert 1
net adir => parport.0.pin-08-out
net astep => parport.0.pin-09-out
setp parport.0.pin-09-out-reset 1
net ystep => parport.0.pin-14-out
setp parport.0.pin-14-out-reset 1
net xstep => parport.0.pin-16-out
setp parport.0.pin-16-out-reset 1
net yenable => parport.0.pin-17-out
setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable
setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable
setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
i have the feedback lines for every axis. the file was done by stepconf wizard. i just added the yenable and zenable needed by my driver.
Please Log in or Create an account to join the conversation.
11 Aug 2010 11:34 #3691
by andypugh
Replied by andypugh on topic Re:Bipod setup
dab77 wrote:
What are the servo period and base period (in the INI file)? In fact, can you post the INI file?
What actually happens? I am not clear from the dmesg stuff you have posted if you get a following error and EMC2 stops and unloads itself, or whether you get a following error and then you are quitting EMC2.
What does Halscope show you for the pos-cmd, pos-fb and f-error pins?
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
i have the feedback lines for every axis. the file was done by stepconf wizard. i just added the yenable and zenable needed by my driver.
What are the servo period and base period (in the INI file)? In fact, can you post the INI file?
What actually happens? I am not clear from the dmesg stuff you have posted if you get a following error and EMC2 stops and unloads itself, or whether you get a following error and then you are quitting EMC2.
What does Halscope show you for the pos-cmd, pos-fb and f-error pins?
Please Log in or Create an account to join the conversation.
11 Aug 2010 11:42 - 11 Aug 2010 11:43 #3692
by dab77
Replied by dab77 on topic Re:Bipod setup
Last edit: 11 Aug 2010 11:43 by dab77.
Please Log in or Create an account to join the conversation.
11 Aug 2010 11:56 #3693
by andypugh
Replied by andypugh on topic Re:Bipod setup
It is a bit difficult to see what is happening there because the scales are so big for the cmd and fb channels.
You can apply an offset to the -cmd and -fb channels (the button at the bottom of the scale slider) which will then let you decrease the scale while keeping the traces on the screen.
However, I think I can see a change in the -cmd value, but not in the -fb value..
You can apply an offset to the -cmd and -fb channels (the button at the bottom of the scale slider) which will then let you decrease the scale while keeping the traces on the screen.
However, I think I can see a change in the -cmd value, but not in the -fb value..
Please Log in or Create an account to join the conversation.
11 Aug 2010 12:21 #3696
by dab77
Replied by dab77 on topic Re:Bipod setup
Please Log in or Create an account to join the conversation.
11 Aug 2010 13:29 #3698
by andypugh
Replied by andypugh on topic Re:Bipod setup
At a guess, I would say that STEPGEN_MAXACCEL is much lower then MAX_ACCEL in the INI file. Basically the stepgen is not keeping up with the command.
This is nothing to do with the kinematics module. (but to test that you should perhaps re-test with the original, unmodified trivkins kinematics module, if you still have it)
Another possibility is that the combination of base-period length, step-per rev and axis-scale is much lower than the max velocity of the axes.
This is nothing to do with the kinematics module. (but to test that you should perhaps re-test with the original, unmodified trivkins kinematics module, if you still have it)
Another possibility is that the combination of base-period length, step-per rev and axis-scale is much lower than the max velocity of the axes.
Please Log in or Create an account to join the conversation.
Time to create page: 0.215 seconds