G76, Troubleshooting needed!

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8 years 2 days ago #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
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8 years 2 days ago #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)

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8 years 2 days ago #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

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8 years 2 days ago #119639 by andypugh
Replied by andypugh on topic G76, Troubleshooting needed!
You can try this in your custom.hal
Code:
# 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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8 years 2 days ago #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:
Code:
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 3393

Looked in my .HAL file and yes i have the lowpass in a bunch of places.
Code:
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?
Code:
# ---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_SCALE

I'll attach complete debug info and also .HAL file.

Br Victor
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8 years 2 days ago #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.
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