Dual motor gantry settings

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06 Oct 2019 16:22 #147257 by millhouse_
Hi. I'm trying to setup the dual motor gantry. I followed the instructions but it is not working.

There are two problems. If I try to move Y which is configured as dual motor it wants to home first it due to 2 joints. That means it knows that this axis should use two motors. But if I try to move it it will move the X motor (left/right). And only this one.

If I try to move the X Axis it will move one of the Y motors. At some point I've messed it up.


The motors are wired correct:

X (left/right) is on PIN 2&3
Y (forwards/back) is on PIN 4&5
Z is on PIN 6&7
Y2 (forwards/back) is on PIN 8&9

LinuxCNC/Axis version
2.9.0-pre0-675-g3d06acfa2


The configuration files are attached.
Attachments:

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06 Oct 2019 16:44 #147264 by tommylight
You have omitted the home switches so that will not work.
There have to be home switches on the dual motor axis as they are used to some that axis.You can not jog the dual motor axis without homing it first.

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06 Oct 2019 17:00 #147272 by millhouse_
I don't have home switches installed at the moment and tried to home manually.

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06 Oct 2019 17:38 #147273 by tommylight
You can use immediate homing but that would easily lead to a bent gantry.
While not homed, there are 4 joint so to jog the 2 joints of the same axis using buttons you have to press 2 keys at the same time, easily done at very low jog speeds, but not possible at anything over 100mm/m jog speed.
Example, for jogging the Y axis that has two motors you have to press key up and page up at the same time to jog the gantry.
Anyway, not advisable at all.

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06 Oct 2019 20:11 #147286 by millhouse_
Ok.. I changed the config file. It had many errors. The running code seems to trigger all the Pins. Measured them with a multimeter.

Is there no way to jog Y without pressing two keys?

The files are attached.
Attachments:

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06 Oct 2019 20:55 #147288 by tommylight
It is much easier to use a normal XYZ config and output the Y to both drives/motors, you just need to add

net y-step => parport.0.pin-08-out
net y-dir => parport.0.pin-09-out

so it drives both motors at the same time. When you add the home switches you can revert back to using separate joints.
And you can make as many configs as you like.

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06 Oct 2019 22:33 #147299 by millhouse_
After adding "kinstype=BOTH" I was able to control everything in world view. Multimeter measurements looked promising.

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07 Oct 2019 13:02 - 07 Oct 2019 13:37 #147326 by millhouse_
Ok. It's still not working as expected.

Within the stepconf wizard it was not possible to use both direction arrows to test the motors. Only one direction is working. Don't know what happened. While doing this the first time it worked. Hope I didn't fried something.


I had to use this values in stepconf wizard to get movements (only in one direction):
DIRSETUP        = 10000
DIRHOLD           = 10000
STEPLEN          = 6000
STEPSPACE     = 6000


No matter what values are used for dirsetup/dirhold it didn't changed anything.


And it looks like HAL ignores these lines:
setp stepgen.1.steplen        [JOINT_1]STEPLEN
setp stepgen.1.stepspace      [JOINT_1]STEPSPACE
setp stepgen.1.dirhold        [JOINT_1]DIRHOLD
setp stepgen.1.dirsetup       [JOINT_1]DIRSETUP


If I open linuxcnc an go to calibration/Kalibrierung it has 100000 as value for those. Within hal->components->stepgen->0/1/2/3 the value for all of them is 0x000186A0. Which should translate to 100,000 too.


I tried running the testcode. Sometimes the Y Axis will run in sync sometimes they don't. If they rotate left it seems and sounds good. If they need to rotate right they shutter pretty ugly.


Configfiles attached.
Attachments:
Last edit: 07 Oct 2019 13:37 by millhouse_.

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07 Oct 2019 14:09 - 07 Oct 2019 14:23 #147338 by millhouse_
In order to get the motors to run in both directions within the stepconf wizard I had to invert all DIR&STEP PINS. Not just the the STEPpins.


The main problem now seems to be that HAL won't take the values for stepspace/steplen etc. It uses 100k for all.


If I enter them manually in the calibration window, it works fine and it is possible to move the axis in every direction. So it looks like something is wrong with the config file/format?

Could anyone hint me in the right direction to fix this?
Last edit: 07 Oct 2019 14:23 by millhouse_.

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07 Oct 2019 14:45 #147342 by tommylight

millhouse_ wrote:
Could anyone hint me in the right direction to fix this?


Edit the ini file manualy with a text editor, in Linux, not windows.

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