G76, Troubleshooting needed!
28 Oct 2018 21:24 #119571
by PCW
Replied by PCW on topic G76, Troubleshooting needed!
I mean using halscope to see if the encoder position or velocity are noisy
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28 Oct 2018 21:28 #119572
by Victor
Replied by Victor on topic G76, Troubleshooting needed!
Ok! I will check tomorrow and make a screenshot!
Br Victor
Br Victor
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29 Oct 2018 19:29 #119609
by Victor
Replied by Victor on topic G76, Troubleshooting needed!
Ok, So i did a Hal-Scope of the Input-A signal and the Input-index signal.
Picture HAL-Scope-1, HAL-Scope-2, HAL-Scope-3 is when just running the spindle at 1200rpm-ish.
Picture HAL-Scope-4, HAL-Scope-5, HAL-Scope-6 is taken during the stuttering that occurs when using G76/G33 with 1200rpm / 1rev per turn in feed.
Br Victor
Picture HAL-Scope-1, HAL-Scope-2, HAL-Scope-3 is when just running the spindle at 1200rpm-ish.
Picture HAL-Scope-4, HAL-Scope-5, HAL-Scope-6 is taken during the stuttering that occurs when using G76/G33 with 1200rpm / 1rev per turn in feed.
Br Victor
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29 Oct 2018 21:00 #119624
by PCW
Replied by PCW on topic G76, Troubleshooting needed!
Yeah those are pretty lumpy
I suspect you will need to low pass filter the spindle encoder position to get
clean tracking (say 20-50 ms time constant)
I suspect you will need to low pass filter the spindle encoder position to get
clean tracking (say 20-50 ms time constant)
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30 Oct 2018 09:09 #119638
by Victor
Replied by Victor on topic G76, Troubleshooting needed!
Ok, My initial thought was some additional hardware?
But after a bit of Googling i came across this: linuxcnc.org/docs/html/man/man9/lowpass.9.html
If you meant the loadrt lowpass [count=N|names=name1[,name2...]] way how would i configure that? unfortunately my coding skills are pretty much 0.
Br Victor
But after a bit of Googling i came across this: linuxcnc.org/docs/html/man/man9/lowpass.9.html
If you meant the loadrt lowpass [count=N|names=name1[,name2...]] way how would i configure that? unfortunately my coding skills are pretty much 0.
Br Victor
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30 Oct 2018 10:32 #119639
by andypugh
Replied by andypugh on topic G76, Troubleshooting needed!
You can try this in your custom.hal
# Disconnect motion.spindle-revs from the signal in the main HAL file
unlinkp motion.spindle-revs
loadrt lowpass count=1
addf lowpass.0 servo-thread
setp lowpass.0.gain 0.05
# This signal needs to be the one from your main HAL file.
# This is a guess...
net spindle-revs lowpass.0.in
net spindle-revs-filt lopass.0.out => motion.spindle-revs
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30 Oct 2018 17:51 #119650
by Victor
Replied by Victor on topic G76, Troubleshooting needed!
Ok, Andy i put your code in my custom.hal and I got the following error message:
Looked in my .HAL file and yes i have the lowpass in a bunch of places.
Tried commenting out the first ones but got stuck at the last ones.
What does filter setting below do?
I'll attach complete debug info and also .HAL file.
Br Victor
Debug file information:
Note: Using POSIX realtime
iptables: No chain/target/match by that name.
lowpass: already exists
./custom.hal:21: waitpid failed /usr/bin/rtapi_app lowpass
./custom.hal:21: /usr/bin/rtapi_app exited without becoming ready
./custom.hal:21: insmod for lowpass failed, returned -1
3393Looked in my .HAL file and yes i have the lowpass in a bunch of places.
loadrt lowpass names=lowpass.spindle
addf lowpass.spindle servo-thread
# spindle-velocity bounces around so we filter it with lowpass
setp lowpass.spindle.gain 1.000000
net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
net spindle-fb-rpm-abs-filtered lowpass.spindle.out Tried commenting out the first ones but got stuck at the last ones.
What does filter setting below do?
# ---Encoder feedback signals/setup---
setp hm2_7i76e.0.encoder.00.counter-mode 1
setp hm2_7i76e.0.encoder.00.filter 1
setp hm2_7i76e.0.encoder.00.index-invert 0
setp hm2_7i76e.0.encoder.00.index-mask 0
setp hm2_7i76e.0.encoder.00.index-mask-invert 0
setp hm2_7i76e.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALEI'll attach complete debug info and also .HAL file.
Br Victor
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30 Oct 2018 18:04 #119651
by andypugh
Replied by andypugh on topic G76, Troubleshooting needed!
Ok, make the first loadrt say something like "names=lowpass.spindle,lowpass.spindlepos" instead and use lowpass.spindlepos in your custom.hal
You don't have to use custom.hal, of course, but if you edit the main hal you can't use pncconf again without losing your changes. This probably isn't a problem, it is sensible to conclude that pncconf has done its job once the machine runs.
You don't have to use custom.hal, of course, but if you edit the main hal you can't use pncconf again without losing your changes. This probably isn't a problem, it is sensible to conclude that pncconf has done its job once the machine runs.
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30 Oct 2018 18:23 #119652
by Victor
Replied by Victor on topic G76, Troubleshooting needed!
Hmm pretty sure i did not understand you correctly.
Should i change "loadrt lowpass names=lowpass.spindle" that is in my main .hal file to
"loadrt names=lowpass.spindle,lowpass.spindlepos" ?
Got this error code:
Agreed that Pncconf has done it's job but since i lack the coding skills, if i want to add something or change an input I'm lost without it so i have to use Pncconf and then replace all the custom bits i have added after.
Br Victor
Should i change "loadrt lowpass names=lowpass.spindle" that is in my main .hal file to
"loadrt names=lowpass.spindle,lowpass.spindlepos" ?
Got this error code:
Debug file information:
Note: Using POSIX realtime
names=lowpass.spindle,lowpass.spindlepos: dlopen: /usr/lib/linuxcnc/modules/names=lowpass.spindle,lowpass.spindlepos.so: cannot open shared object file: No such file or directory
./Emco-120P.hal:13: waitpid failed /usr/bin/rtapi_app names=lowpass.spindle,lowpass.spindlepos
./Emco-120P.hal:13: /usr/bin/rtapi_app exited without becoming ready
./Emco-120P.hal:13: insmod for names=lowpass.spindle,lowpass.spindlepos failed, returned -1
4514Agreed that Pncconf has done it's job but since i lack the coding skills, if i want to add something or change an input I'm lost without it so i have to use Pncconf and then replace all the custom bits i have added after.
Br Victor
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30 Oct 2018 18:59 #119653
by andypugh
Replied by andypugh on topic G76, Troubleshooting needed!
It looks like you left out the "loadrt lowpass" ?
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