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Remora - ethernet NVEM / EC300 / EC500 cnc board

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3 years 7 months ago #266432 by scotta
Replied by scotta on topic Remora - ethernet NVEM / EC300 / EC500 cnc board
Hi, you need to create a E-stop chain in HAL using the estop_latch component. I've got a working example I'll need to dig out.

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3 years 7 months ago #266433 by frayja2002
Replied by frayja2002 on topic Remora - ethernet NVEM / EC300 / EC500 cnc board
I'd appreciate that.

Apart from using the parallel port wizard, I have never really played with the HAL file.
Any insights into how it all glues together would be good.

Alex

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3 years 7 months ago - 3 years 7 months ago #266436 by scotta
Replied by scotta on topic Remora - ethernet NVEM / EC300 / EC500 cnc board
Took some digging, but finally found it. 
Code:
# load the real-time components     loadrt remora-eth     loadrt estop_latch     loadrt and2 # estop and comms enable and feedback     net nvem-estop             <= estop-latch.0.fault-in             <= remora.input.4     net user-enable-in         <= and2.0.out                         => iocontrol.0.emc-enable-in     net remora-status        <= remora.status                    => and2.0.in0     net estop-status        <= estop-latch.0.ok-out                => and2.0.in1          net user-enable-out        <= iocontrol.0.user-enable-out        => remora.enable     net user-enable-out                                             => estop-latch.0.ok-in     net user-request-enable <= iocontrol.0.user-request-enable    => remora.reset     net user-request-enable                                     => estop-latch.0.reset # add the remora and motion functions to threads     addf remora.read             servo-thread     addf estop-latch.0             servo-thread     addf and2.0                    servo-thread     addf motion-command-handler servo-thread     addf motion-controller         servo-thread     addf remora.update-freq     servo-thread     addf remora.write             servo-thread
Last edit: 3 years 7 months ago by scotta.

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3 years 7 months ago #266629 by frayja2002
Replied by frayja2002 on topic Remora - ethernet NVEM / EC300 / EC500 cnc board
Hi there

Thanks for that. I managed to get it working. I have attached what I ended up with in case it is useful to someone else.

I do have another question though. I am using a STM32 based NVEM controller on a small 2040 style mill. This is using NEMA 17 motors.

When I jog any of the axis (around 100mm) the axis stops short (about .04 of a mm) and then gradually moves to the commanded position. Just by counting this can take up to 2 sec. for the axis to stop moving.

Is this expected behavior & how do I go about diagnosing this?

Thanks
Alex.

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3 years 7 months ago #266630 by scotta
Replied by scotta on topic Remora - ethernet NVEM / EC300 / EC500 cnc board
There is a deadband in the control loop which by default is deadband = 1 / data->pos_scale. This can be overwritten by a command line setting.

0.04mm must be very close to 1 step, so the control loop is trying to get it as close as possible.

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3 years 7 months ago #266631 by cakeslob
Replied by cakeslob on topic Remora - ethernet NVEM / EC300 / EC500 cnc board
I have been wondering why more people havent asked about that. I figured they had higher step scales so it went unnoticed. It took me a while to figure out what was going on. I only found reference to it in a couple config files. This config has a deadband example
github.com/scottalford75/Remora/tree/mai...s/remora-closed-loop

1 / data->pos_scale, I dont know the math on that but it seems high because the default gives me unacceptable results. When I set deadband to something like .005mm, or half of 1 step it eliminates the issue.
github.com/cakeslob/upload_things/issues/1

I havent used deadband setting with openloop steppers before, what is the benefit of a higher deadband setting?

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