ethercat gantry

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14 Sep 2024 08:22 #310129 by Aciera
Replied by Aciera on topic ethercat gantry
Have you tried lowering the 'MAX_VELOCITY' value in the [JOINT_1] and [JOINT_2] section of your ini file?

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14 Sep 2024 08:48 #310131 by Moutomation
Replied by Moutomation on topic ethercat gantry
I tried but the speed does not decrease. Too fast and the driver fails.

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14 Sep 2024 08:51 #310132 by Moutomation
Replied by Moutomation on topic ethercat gantry
It probably happens like this. When I go to the mdi page, the required position is sent to the servo driver and if the servo is not in that position, it goes to that position very quickly. I think I should try to synchronize the position by examining the manual you sent.

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19 Sep 2024 10:16 - 19 Sep 2024 10:18 #310432 by Moutomation
Replied by Moutomation on topic ethercat gantry
I have done many tests but the problem persists. If the two engine positions are not the same at the first start, one of the engines tries to move to the other engine's position very quickly.
I have no idea how to solve this

[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 5000
STEPGEN_MAXVEL = 10
STEPGEN_MAXACCEL = 10
SCALE = 1
FERROR = 200
MIN_FERROR = 50
MIN_LIMIT = -100000
MAX_LIMIT = 120000
HOME = 0
HOME_OFFSET = 0
HOME_ABSOLUTE_ENCODER   = 2
HOME_SEQUENCE = 2

HOME_SEARCH_VEL = 1
HOME_LATCH_VEL = 1

HOME_IGNORE_LIMITS     = 0
HOME_USE_INDEX          = YES

[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 5000
STEPGEN_MAXVEL = 10
STEPGEN_MAXACCEL = 10
SCALE = 1
FERROR = 200
MIN_FERROR = 50
MIN_LIMIT = -100000
MAX_LIMIT = 120000
HOME = 0
HOME_OFFSET = 0
HOME_ABSOLUTE_ENCODER   = 2
HOME_SEQUENCE = 2

HOME_SEARCH_VEL = 1
HOME_LATCH_VEL = 1

HOME_IGNORE_LIMITS     = 0
HOME_USE_INDEX          = YES
Last edit: 19 Sep 2024 10:18 by Moutomation.

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19 Sep 2024 10:26 - 19 Sep 2024 10:27 #310433 by Moutomation
Replied by Moutomation on topic ethercat gantry
When HOME_SEQUENCE = 0 I'm thinking of running a subroutine at startup, I'll equalize the axis positions there, for example I'll send the y1 axis to the y2 axis position and then
Maybe changing HOME_SEQUENCE =-2 could solve the problem. but I don't know how to change these parameters in gcode file
I want to change the HOME_SEQUENCE parameter for joint_1 and join_2. But I will try and see if this is a solution.
Last edit: 19 Sep 2024 10:27 by Moutomation.

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19 Sep 2024 10:55 #310437 by Moutomation
Replied by Moutomation on topic ethercat gantry
I think I found a way. If I send the y1 axis to the y2 axis position before pressing the home all button and then press the home all button, there will be no problem. I will try.

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19 Sep 2024 10:57 #310438 by Aciera
Replied by Aciera on topic ethercat gantry
1. Have you tried setting the 'HOME_OFFSET' value to automatically compensate for position difference during homing?

2. You cannot change Homing related settings in gcode you need to setup homing in the ini file. For more complex situations there is the possibility to choose between a standard homing procedure and a custom homing procedure using a hal pin but I would certainly try the HOME_OFFSET feature mentioned above first.

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19 Sep 2024 11:30 #310442 by Moutomation
Replied by Moutomation on topic ethercat gantry
I will try

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19 Sep 2024 14:37 #310458 by tommylight
Replied by tommylight on topic ethercat gantry
You need to fix the limits in the ini file, why would you have -100000 to 120000mm of travel? That is 220 meters of travel if in mm, half a city if in inches ! :)
And if joint 1 and joint 2 are tandem axis, home_sequence must be -2, not 2

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24 Sep 2024 07:12 #310691 by Moutomation
Replied by Moutomation on topic ethercat gantry
you are right it should be -2
I change axis limits from gui
The following user(s) said Thank You: tommylight

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