caxis.comp status

On a whim I tried setting the stepgen position-scale to be in degrees/per rather than revs/per, and it smoothed out considerably.

Downside was that no matter what the command or other PID settings, it wouldn't go faster than 3rpm in spindle or axis mode.


I've come to the conclusion that I need to get this thing working as an axis without the spindle-switch part muddying the waters or confusing me.

Once I've found settings & connections that work as an axis scheme I can circle back and try to figure out what the issue is when using caxis.comp.

Ohhh check your axis max angular velocity settings. Would you be willing to test a hal component?? I can draft 1 that turns rpm in deg sec and routes all the spindle pin and we can grab emcoder feedback for cordinated motion and pipe it back to spindle

I had the following in INI
[DISPLAY]
MAX_ANGULAR_VELOCITY = 360

[TRAJ]
MAX_ANGULAR_VELOCITY = 7200

[AXIS_W] & [JOINT_4]
MAX_VELOCITY = 500

[SPINDLE_1]
MAX_RPM = 5000
MAX_RPS = 50 (stepgen maxvel)
MAX_ACCEL_RPS = 50 (stepgen maxaccel)

Of course I'd be willing to test a component, thanks for the offer.

I want to try to get the axis working tonight (no spindle mode) open loop.  Then I'll work on closing the loop and adjusting PID.

After that I can either test your component or see about re-doing the caxis.comp connection.

Quic glance at manual, angular velocity should be machine units per second, so 360 degrees per second  should be around 60rpm 

Add a zero and change it to 3600 see what happens 

smc.collins wrote:

Add a zero and change it to 3600 see what happens 

What happens is nothing changes.  I had the value from 90 to 7200 and pid.w.output stayed at 3rpm regardless of the max settings.  If I raised P above the point where it started waggling the output maybe got to 4-5rpm.  pid.w.max-output was always set to 0, so that wasn't clamping in the background.

Like I said, I'll get it working as an axis with no caxis.comp or spindle functions to confuse the issue, then start working on where I went wrong.

Is there a max stepgen setting in the axis portion of the ini ??

Like I said, the entire problem is sharing the output.

I'll try to set aside some time to make a hal component that will send spindle feedback and output a deg/sec etc to the axis input. This will actually fix the homing issues as well.