Mori MVJR Build Log

andypugh wrote:
I have a feeling that it has already been done. That toolchanger looks familiar.
If only I could remember names as well as machine tools I then I might be able to remember who has one.[/quote]

Yes that video is from Chris Radek, the author of the Touchy.UI for EMC.

If anyone knows how to contact him, any kind of an example to follow would be very helpful.

Progress Report::
I haven't been able to get a reply from Chris on the tool changer so for the short term I am trying to use the machine without it.
I have logged onto the IRC channel but have never seen anyone else logged in, I wonder if I ma doing it right or if it is not used much any more.

Maybe over Christmas I will take another swing at classic ladder. The magazine looks like the most difficult to thing to figure out since I have no foundation example to work from. It might be worth it to try to put an encoder on the magazine so I can reuse some existing tool magazine code that I got from Cory.

Today I was moving the machine with the MPG and found that if the step size was 0.010" it would stop the machine with a following error when I turned the handle.

I experimented with everything I can think of to try but couldn't get the problem to go away.

Some information.

The problem doesn't seem to happen when I use the jog button, only when I use the MPG
The problem doesn't seem to happen to the Y and Z axis, only the X axis.

The FERROR and MINFERROR are the same for all axis.
The P,I,D etc are similar on all axis.

One thing I wonder about is the X axis is the only axis that I adjusted the pots for, it seems to work OK otherwise, I don't know what else I can test to figure this out.

When I run the PID tuning I set the FERROR and MINFERROR very high so I don't know yet what would happen if I tried to run a real program yet.

Can you set the FERROR a little bigger (say .1") and HALScope the X axis when you jog? (and post the results here)

I did the test, I did it with with the MPG step set to 0.100" the table follows like it was being pulled with a rubber band.

The following message appeared:
"Unexpected real time delay"

Here is the HAL Scope screen capture and attached bootmsg.txt

Here is the INI file, I guess there will be questions about that.

Does the MPG follow the acceleration from the begging of the TRAJ section? Or the individual axis?

Looks like FF1 is way way off.
This needs to be adjusted until the
FERROR triangle is flat

I wouls also delete the PID error trace as its a distraction

Is it possible the X axis drives gain pot was changed _after_ tuning?