Bipod setup
11 Aug 2010 13:31 #3699
by dab77
Replied by dab77 on topic Re:Bipod setup
ok..
kind of my newbie fault.
with a very low speed it works!
before i left for each motor a good speed, which was 600mm/s.
i had to set it to 50mm/s to make it work without errors...
now i have a big noise coming from my motors (nema23-3A...chinese...)with low speed, but i'm going to play a bit with microstepping. now working with 1/2.
thanks again!
if you have any other suggestions, you're welcome!
cheers, dab.
kind of my newbie fault.
with a very low speed it works!
before i left for each motor a good speed, which was 600mm/s.
i had to set it to 50mm/s to make it work without errors...
now i have a big noise coming from my motors (nema23-3A...chinese...)with low speed, but i'm going to play a bit with microstepping. now working with 1/2.
thanks again!
if you have any other suggestions, you're welcome!
cheers, dab.
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11 Aug 2010 13:46 #3701
by andypugh
Replied by andypugh on topic Re:Bipod setup
Post your INI file, I think I know what the problem might be.
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12 Aug 2010 13:18 #3719
by dab77
Replied by dab77 on topic Re:Bipod setup
wow!!
that's my .ini:
50 mm/s is the max vel i can jog in world mode... ...but, if i run the example text path, the 'not-cutting-movements' are done correctly at max vel what i think is 1800mm/s. am i right?
that's my .ini:
[EMC]
MACHINE = Prova_Bipod
DEBUG = 0x7FFFFFFF
[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 2
PROGRAM_PREFIX = /home/dab-cnc/emc2/nc_files/bipod
INCREMENTS = 50mm 10mm 5mm 1mm .5mm .1mm .05mm
[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 = emc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
[HAL]
HALFILE = Prova_Bipod.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 50.00
MAX_LINEAR_VELOCITY = 1800.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1800.0
MAX_ACCELERATION = 3000.0
STEPGEN_MAXACCEL = 3750.0
SCALE = 5.19953204212
FERROR = 1.0
MIN_FERROR = 1.0
MIN_LIMIT = -2000.0
MAX_LIMIT = 2000.0
HOME_OFFSET = 0.0
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1800.0
MAX_ACCELERATION = 3000.0
STEPGEN_MAXACCEL = 3750.0
SCALE = 5.19953204212
FERROR = 1.0
MIN_FERROR = 1.0
MIN_LIMIT = -2000.0
MAX_LIMIT = 2000.0
HOME_OFFSET = 0.0
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1800.0
MAX_ACCELERATION = 3000.0
STEPGEN_MAXACCEL = 3750.0
SCALE = 5.19953204212
FERROR = 1.0
MIN_FERROR = 1.0
MIN_LIMIT = -2000.0
MAX_LIMIT = 2000.0
HOME_OFFSET = 0.050 mm/s is the max vel i can jog in world mode... ...but, if i run the example text path, the 'not-cutting-movements' are done correctly at max vel what i think is 1800mm/s. am i right?
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12 Aug 2010 14:20 #3720
by andypugh
Replied by andypugh on topic Re:Bipod setup
dab77 wrote:
You do have a rather slow base thread.
Looking at the numbers:
A max velocity of 1800mm/sec and a scale of 5.2 means a max pulse rate of 9360Hz
A Base period of 100,000 nS means that the stepgen runs at a max of 10kHz (assuming that Reset is active, which I think it is, otherwise it is 5kHz)
So, it is not exactly what I thought the problem was, but bear in mind that any increase in your microstep level will halve your top speed. Also not that at the moment at high speed the stepgen has a choice of 1800mm/sec, 900mm/sec, 600mm/sec, 450mm/sec etc. These big jumps are likely to lead to motor stalling problems.
Is your latency really so bad that you need a 100000nS base period? Generally anything worse than 50000 means that the computer is not really suitable for RT work (and <20000 is desirable)
Assuming a 200 step motor and half microstepping, you seem to be asking the motors to run at 1500rpm at the top end, this is rather fast for a stepper, especially when you are asking it to jump from 750 to 1500 rpm instantaneously due to the limited step resolution.
As an experiment, though, try increasing the accellerations by a factor of 5 and see what happens.
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
[AXIS_0]
MAX_VELOCITY = 1800.0
MAX_ACCELERATION = 3000.0
STEPGEN_MAXACCEL = 3750.0
SCALE = 5.19953204212
FERROR = 1.0
MIN_FERROR = 1.0
You do have a rather slow base thread.
Looking at the numbers:
A max velocity of 1800mm/sec and a scale of 5.2 means a max pulse rate of 9360Hz
A Base period of 100,000 nS means that the stepgen runs at a max of 10kHz (assuming that Reset is active, which I think it is, otherwise it is 5kHz)
So, it is not exactly what I thought the problem was, but bear in mind that any increase in your microstep level will halve your top speed. Also not that at the moment at high speed the stepgen has a choice of 1800mm/sec, 900mm/sec, 600mm/sec, 450mm/sec etc. These big jumps are likely to lead to motor stalling problems.
Is your latency really so bad that you need a 100000nS base period? Generally anything worse than 50000 means that the computer is not really suitable for RT work (and <20000 is desirable)
Assuming a 200 step motor and half microstepping, you seem to be asking the motors to run at 1500rpm at the top end, this is rather fast for a stepper, especially when you are asking it to jump from 750 to 1500 rpm instantaneously due to the limited step resolution.
As an experiment, though, try increasing the accellerations by a factor of 5 and see what happens.
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12 Aug 2010 19:30 #3722
by dab77
Replied by dab77 on topic Re:Bipod setup
you're right..
don't know how stepconf wizard translated the 15000ns max base jitter, with that 100000 ns base period..
now this is my new .ini file:
...cutted...i have less problems, this way, but still i'm not happy.
do you know why in joint mode i can reach without problems very high speed, while in world mode i can jog at a max speed of someting like 4000 mm/min? it's very low speed... in joint mode 1500-2000 mm/s are possible, the only limit are my fingers and eyes!!!
by the way my EMC-PC is a notebook with P4 - 3GHz processor, 1G of RAM... I think it has to run!
don't know how stepconf wizard translated the 15000ns max base jitter, with that 100000 ns base period..
now this is my new .ini file:
...cutted...
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 18000
SERVO_PERIOD = 100000
...
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 100.00
MAX_LINEAR_VELOCITY = 1000.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[AXIS_0]
TYPE = LINEAR
HOME = 1000.0
MAX_VELOCITY = 950.024698419
MAX_ACCELERATION = 6000.0
STEPGEN_MAXACCEL = 7500.0
SCALE = 41.5962563369
FERROR = 1.0
MIN_FERROR = .25
MIN_LIMIT = -3000.0
MAX_LIMIT = 3000.0
HOME_OFFSET = 1000.0do you know why in joint mode i can reach without problems very high speed, while in world mode i can jog at a max speed of someting like 4000 mm/min? it's very low speed... in joint mode 1500-2000 mm/s are possible, the only limit are my fingers and eyes!!!
by the way my EMC-PC is a notebook with P4 - 3GHz processor, 1G of RAM... I think it has to run!
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12 Aug 2010 19:41 #3723
by dab77
Replied by dab77 on topic Re:Bipod setup
taking the min ferror from .25 to 3 made the things lot better!!!
now i can jog in world mode at 11000 mm/min of speed..
now i can jog in world mode at 11000 mm/min of speed..
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