Lagunmatic 3516-SX Retrofit
20 Aug 2018 11:21 #116368
by andypugh
Replied by andypugh on topic Lagunmatic 3516-SX Retrofit
Try using Halscope (trigerred from orient enable) to compare the position, target and velocity.
If it takes too long to get to position try more P, if it gets there rapidly then takes a while to settle, try less P. If it takes a long time to pull in to final position then add a little I.
If it takes too long to get to position try more P, if it gets there rapidly then takes a while to settle, try less P. If it takes a long time to pull in to final position then add a little I.
The following user(s) said Thank You: giz
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04 Sep 2018 02:00 #117037
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
Had about an hour to toy around with this tonight - first time in weeks. I had some success getting halscope to show me signals, but no real progress on the PID.
Also my zero point is whatever the position the spindle is in when my configuration boots. I was under the impression it should reset to zero once the index is seen. Thoughts?
Also my zero point is whatever the position the spindle is in when my configuration boots. I was under the impression it should reset to zero once the index is seen. Thoughts?
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04 Sep 2018 02:05 #117038
by PCW
Replied by PCW on topic Lagunmatic 3516-SX Retrofit
Index will only clear the spindle position if index enable is true
Can you post your existing HAL and INI files? That might help with diagnosing you tuning and spindle issues
Can you post your existing HAL and INI files? That might help with diagnosing you tuning and spindle issues
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09 Sep 2018 17:24 #117244
by giz
Absolutely! Here they are:
lagunmatic.hal
lagunmatic.ini
Replied by giz on topic Lagunmatic 3516-SX Retrofit
Index will only clear the spindle position if index enable is true
Can you post your existing HAL and INI files? That might help with diagnosing you tuning and spindle issues
Absolutely! Here they are:
lagunmatic.hal
# Generated by PNCconf at Fri Apr 27 02:57:57 2018
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000xxx"
setp hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.p
addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.p.do-pid-calcs servo-thread # Position
addf hm2_5i25.0.write servo-thread
loadrt orient
addf orient.0 servo-thread
setp orient.0.mode 0
loadrt mux2
addf mux2.0 servo-thread #Chooses which speed output goes to spindle
loadrt or2 count=2
addf or2.0 servo-thread #Enables spindle in both modes
addf or2.1 servo-thread #Activate Spindle Run relay
loadrt and2
addf and2.0 servo-thread
loadrt near count=3
loadrt edge
addf near.0 servo-thread
addf near.1 servo-thread
addf near.2 servo-thread
addf edge.0 servo-thread
setp edge.0.both 0
setp edge.0.in-edge 0
setp edge.0.out-width-ns 10000000
setp near.0.difference 0.001667 #How close the spindle needs to orient in revs
setp near.1.scale 1.05 #Spindle-at-speed true within scale
setp near.2.difference .5 #Check spindle velocity for near zero
net zero-speed near.2.in1
sets zero-speed 0
loadrt scale count=2
addf scale.0 servo-thread #RPS to RPM
addf scale.1 servo-thread #Motor to Spindle Ratio
setp scale.0.gain 60
setp scale.0.offset 100
setp scale.1.gain 0.8
######################################
# external output signals
######################################
# --- MACHINE-IS-ENABLED ---
net machine-is-enabled hm2_5i25.0.7i77.0.0.output-00
# --- MAGAZINE_FORWARD ---
net Magazine_Forward hm2_5i25.0.7i77.0.0.output-01
# --- MAGAZINE_DOWN ---
net Magazine_Down hm2_5i25.0.7i77.0.0.output-02
# --- MAGAZINE_CW ---
net Magazine_CW hm2_5i25.0.7i77.0.0.output-03
# --- MAGAZINE_CCW ---
net Magazine_CCW hm2_5i25.0.7i77.0.0.output-04
# --- SPINDLE_ORIENT ---
net Spindle_Orient hm2_5i25.0.7i77.0.0.output-05
# --- SPINDLE-MOVE ---
#net spindle-enable hm2_5i25.0.7i77.0.0.output-06
# --- TOOL_UNCLAMP ---
net Tool_Unclamp hm2_5i25.0.7i77.0.0.output-07
# --- COOLANT-MIST ---
#net coolant-mist hm2_5i25.0.7i77.0.0.output-08
# --- LUBE_RELAY ---
net Lube_Relay hm2_5i25.0.7i77.0.0.output-10
# --- SOFT_START_CANCEL ---
net Soft_Start_Cancel hm2_5i25.0.7i77.0.0.output-11
######################################
# external input signals
######################################
# --- WAY_LUBE_LEVEL ---
net Way_Lube_Level <= hm2_5i25.0.7i77.0.0.input-00
# --- MAX-X ---
net max-x <= hm2_5i25.0.7i77.0.0.input-01-not
# --- MIN-X ---
net min-x <= hm2_5i25.0.7i77.0.0.input-02-not
# --- MAX-Y ---
net max-y <= hm2_5i25.0.7i77.0.0.input-03-not
# --- MIN-Y ---
net min-y <= hm2_5i25.0.7i77.0.0.input-04-not
# --- MAX-Z ---
net max-z <= hm2_5i25.0.7i77.0.0.input-05-not
# --- MIN-Z ---
net min-z <= hm2_5i25.0.7i77.0.0.input-06-not
# --- HOME-X ---
net home-x <= hm2_5i25.0.7i77.0.0.input-07
# --- HOME-Y ---
net home-y <= hm2_5i25.0.7i77.0.0.input-08
# --- HOME-Z ---
net home-z <= hm2_5i25.0.7i77.0.0.input-09
# --- MAGAZINE_BACK_POSITION ---
net Magazine_Back_Position <= hm2_5i25.0.7i77.0.0.input-10
# --- MAGAZINE_FORWARD_POSITION ---
net Magazine_Forward_Position <= hm2_5i25.0.7i77.0.0.input-11
# --- MAGAZINE_UP_POSITION ---
net Magazine_Up_Position <= hm2_5i25.0.7i77.0.0.input-12
# --- MAGAZINE_DOWN_POSITION ---
net Magazine_Down_Position <= hm2_5i25.0.7i77.0.0.input-13
# --- POSITION_COUNTER ---
net Position_Counter <= hm2_5i25.0.7i77.0.0.input-14
# --- MAGAZINE_HOME ---
net Magazine_Home <= hm2_5i25.0.7i77.0.0.input-15
# --- TOOL_CLAMP_POSITION ---
#net Tool_Clamp_Position <= hm2_5i25.0.7i77.0.0.input-16
# --- TOOL_UNCLAMP_POSITION ---
#net Tool_Unclamp_Position <= hm2_5i25.0.7i77.0.0.input-17
# --- SPINDLE_UP_TO_SPEED ---
net Spindle_Up_To_Speed <= hm2_5i25.0.7i77.0.0.input-18
# --- ESTOP ---
net ESTOP <= hm2_5i25.0.7i77.0.0.input-19
# --- SPINDLE_ORIENT_COMPLETE ---
net Spindle_Orient_Complete <= hm2_5i25.0.7i77.0.0.input-20
# --- LUBE_PRESSURE_SWITCH ---
net Lube_Pressure_Switch <= hm2_5i25.0.7i77.0.0.input-21-not
# --- AIR_PRESSURE_SWITCH ---
net Air_Pressure_Switch <= hm2_5i25.0.7i77.0.0.input-22
# --- MACHINE_ON_CMD ---
net Machine_On_CMD <= hm2_5i25.0.7i77.0.0.input-23
# --- SPINDLE_ON_CMD ---
net Spindle_On_CMD <= hm2_5i25.0.7i77.0.0.input-24
# --- TOOL_UNCLAMP_CMD ---
net Tool_Unclamp_CMD <= hm2_5i25.0.7i77.0.0.input-25
# --- MIST_ON_CMD ---
net Mist_On_CMD <= hm2_5i25.0.7i77.0.0.input-26
# --- MAGAZINE_CW_CMD ---
net Magazine_CW_CMD <= hm2_5i25.0.7i77.0.0.input-27
# --- MAGAZINE_CCW_CMD ---
net Magazine_CCW_CMD <= hm2_5i25.0.7i77.0.0.input-28
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.x.error-previous-target true
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
net x-output => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-cmd axis.0.motor-pos-cmd
net x-enable axis.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable hm2_5i25.0.7i77.0.1.analogena
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net home-x => axis.0.home-sw-in
net min-x => axis.0.neg-lim-sw-in
net max-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp pid.y.error-previous-target true
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
net y-output => hm2_5i25.0.7i77.0.1.analogout1
net y-pos-cmd axis.1.motor-pos-cmd
net y-enable axis.1.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.01.counter-mode 0
setp hm2_5i25.0.encoder.01.filter 1
setp hm2_5i25.0.encoder.01.index-invert 0
setp hm2_5i25.0.encoder.01.index-mask 0
setp hm2_5i25.0.encoder.01.index-mask-invert 0
setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
net y-pos-fb <= hm2_5i25.0.encoder.01.position
net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net home-y => axis.1.home-sw-in
net min-y => axis.1.neg-lim-sw-in
net max-y => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp pid.z.error-previous-target true
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
net z-output => hm2_5i25.0.7i77.0.1.analogout2
net z-pos-cmd axis.2.motor-pos-cmd
net z-enable axis.2.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.02.counter-mode 0
setp hm2_5i25.0.encoder.02.filter 1
setp hm2_5i25.0.encoder.02.index-invert 0
setp hm2_5i25.0.encoder.02.index-mask 0
setp hm2_5i25.0.encoder.02.index-mask-invert 0
setp hm2_5i25.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
net z-pos-fb <= hm2_5i25.0.encoder.02.position
net z-vel-fb <= hm2_5i25.0.encoder.02.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
# ---setup home / limit switch signals---
net home-z => axis.2.home-sw-in
net min-z => axis.2.neg-lim-sw-in
net max-z => axis.2.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
setp pid.p.Pgain [SPINDLE]P_P
setp pid.p.Igain [SPINDLE]I_P
setp pid.p.Dgain [SPINDLE]D_P
setp pid.p.FF0 [SPINDLE]FF0_P
setp pid.p.FF1 [SPINDLE]FF1_P
# ---PWM Generator signals/setup---
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.05.counter-mode 0
setp hm2_5i25.0.encoder.05.filter 1
setp hm2_5i25.0.encoder.05.index-invert 0
setp hm2_5i25.0.encoder.05.index-mask 0
setp hm2_5i25.0.encoder.05.index-mask-invert 0
setp hm2_5i25.0.encoder.05.scale [SPINDLE]ENCODER_SCALE
setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [SPINDLE]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout5-minlim [SPINDLE]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [SPINDLE]OUTPUT_MAX_LIMIT
## Velocity Mode ##
net spindle-vel-rps hm2_5i25.0.encoder.05.velocity motion.spindle-speed-in near.2.in2
net velocity-enable motion.spindle-on or2.0.in0
net spindle-vel-rpm motion.spindle-speed-out mux2.0.in0
net spindle-no-vel near.2.out and2.0.in0
## Orient Mode ##
net spindle-pos-rev hm2_5i25.0.encoder.05.position
net spindle-pos-rev pid.p.feedback orient.0.position near.0.in1 motion.spindle-revs
net orient-enable motion.spindle-orient pid.p.enable orient.0.enable mux2.0.sel or2.0.in1
net orient-mode motion.spindle-orient-mode orient.0.mode
net spindle-index motion.spindle-index-enable hm2_5i25.0.encoder.05.index-enable
net spindle-angle motion.spindle-orient-angle orient.0.angle
net spindle-pos-cmd pid.p.command orient.0.command near.0.in2
net spindle-in-pos-raw near.0.out edge.0.in #not needed v2.8+, use orient.0.is-oriented
net spindle-in-pos edge.0.out and2.0.in1 #motion.spindle-is-oriented
net spindle-pid-out pid.p.output scale.0.in
net spindle-pid-rpm scale.0.out mux2.0.in1
## Spindle Output##
net spindle-cmd-rpm mux2.0.out scale.1.in
net spindle-cmd-vfd scale.1.out hm2_5i25.0.7i77.0.1.analogout5
net spindle-enable or2.0.out hm2_5i25.0.7i77.0.1.spinena hm2_5i25.0.7i77.0.0.output-06
net orient-complete and2.0.out motion.spindle-is-oriented
# ---setup spindle control signals---
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-brake <= motion.spindle-brake
# ---Setup spindle at speed signals---
#sets spindle-at-speed true
net spindle-vel-cmd-rps motion.spindle-speed-out-rps near.1.in1
net spindle-at-speed motion.spindle-at-speed near.1.out
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
net jog-y-pos halui.jog.1.plus
net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-inlagunmatic.ini
# Generated by PNCconf at Fri Apr 27 02:57:57 2018
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = Lagunmatic_3516-SX
DEBUG = 0
[DISPLAY]
DISPLAY = axis
#DISPLAY = gmoccapy
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 2.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/treid/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 1.000000
MAX_LINEAR_VELOCITY = 2.500000
MIN_LINEAR_VELOCITY = 0.000167
DEFAULT_ANGULAR_VELOCITY = 6.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25
[HAL]
HALUI = halui
HALFILE = Lagunmatic_3516-SX.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.20
MAX_LINEAR_VELOCITY = 2.00
NO_FORCE_HOMING = 1
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.02
MIN_FERROR = 0.02
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
P = 105.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.259
FF2 = 0.006
BIAS = 0.0
DEADBAND = 0.0001
MAX_OUTPUT = 0.0
ENCODER_SCALE = 20320.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -0.001
MAX_LIMIT = 26.4
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.166667
HOME_FINAL_VEL = 0.166667
HOME_USE_INDEX = YES
HOME_SEQUENCE = 1
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.02
MIN_FERROR = 0.02
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
P = 30.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.08
FF2 = 0.0005
BIAS = 0.0001
DEADBAND = 0.0
MAX_OUTPUT = 0.0
ENCODER_SCALE = 20320.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -0.001
MAX_LIMIT = 16.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.166667
HOME_FINAL_VEL = 0.166667
HOME_USE_INDEX = YES
HOME_SEQUENCE = 2
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.02
MIN_FERROR = 0.02
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
P = 60.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.91
FF2 = 0.005
BIAS = 0.0
DEADBAND = 0.0001
MAX_OUTPUT = 0.0
ENCODER_SCALE = 20320.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -20.5
MAX_LIMIT = 0.05
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 1.000000
HOME_LATCH_VEL = 0.166667
HOME_FINAL_VEL = 0.166667
HOME_USE_INDEX = YES
HOME_SEQUENCE = 0
#********************
# Spindle
#********************
[SPINDLE] **Spindle velocity PID not in use**
P = 5
I = 0
D = 0.0
FF0 = 1
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10000.0
ENCODER_SCALE = -4096.0
OUTPUT_SCALE = 10000
OUTPUT_MIN_LIMIT = -10000
OUTPUT_MAX_LIMIT = 10000
P_P = 10
I_P = .5
D_P = 0
FF0_P = 0.0
FF1_P = 0.00
DEADBAND_P = 0.001
MAX_OUTPUT_P = 1
BIAS_P = 0.0
MAXI_P = 20.0
MAXD_P = 20.0
MAXERROR_P = 250.0
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09 Sep 2018 17:59 #117246
by PCW
Replied by PCW on topic Lagunmatic 3516-SX Retrofit
To check the spindle index you can (in a terminal window with LinuxCNC running):
halmeter signal spindle-index &
halcmd sets spindle-index true
Then watch spindle-index's state as you manually rotate the spindle
If it's working, it should go true when set via the sets command and go false
when index is detected at just one angular position of the spindle
halmeter signal spindle-index &
halcmd sets spindle-index true
Then watch spindle-index's state as you manually rotate the spindle
If it's working, it should go true when set via the sets command and go false
when index is detected at just one angular position of the spindle
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09 Sep 2018 18:56 #117250
by giz
This is working as intended - reliably sets to False in the same position.
Replied by giz on topic Lagunmatic 3516-SX Retrofit
To check the spindle index you can (in a terminal window with LinuxCNC running):
halmeter signal spindle-index &
halcmd sets spindle-index true
Then watch spindle-index's state as you manually rotate the spindle
If it's working, it should go true when set via the sets command and go false
when index is detected at just one angular position of the spindle
This is working as intended - reliably sets to False in the same position.
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09 Sep 2018 20:57 #117259
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
Realized today that my Y-axis encoder direction is wrong - when I flip the sign of the encoder in my INI file, the machine faults as soon as I enable the motors with a joint follow error.
As far as I can remember, when I was first setting this up I was able to flip the sign in the INI file no problem. Any ideas?
As far as I can remember, when I was first setting this up I was able to flip the sign in the INI file no problem. Any ideas?
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09 Sep 2018 21:24 #117260
by PCW
Replied by PCW on topic Lagunmatic 3516-SX Retrofit
if you flip the encoder scale you also need to flip the analog output scale
( OUTPUT_SCALE in the ini file) or you will get a runaway (positive feedback)
( OUTPUT_SCALE in the ini file) or you will get a runaway (positive feedback)
The following user(s) said Thank You: giz
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09 Sep 2018 23:49 #117264
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
Thank you Peter!
I had to take a break from trying to figure out the spindle/ATC and just cut something today. I've had this machine now for 2 years and haven't made any computer-controlled cuts and it's been eating away at me.
The cuts aren't great - I need to relevel the machine, tighten the X-axis gibs, and spend more time tuning the servos. Feeds/speeds were back of the envelope and clearly too much for the little 3/16" HSS tool in the pocket
But to me, today, this is a trophy. Really appreciate everybody's help and I'm feeling motivated - leaving for IMTS tomorrow and can't wait to get back to the machine next weekend.
I had to take a break from trying to figure out the spindle/ATC and just cut something today. I've had this machine now for 2 years and haven't made any computer-controlled cuts and it's been eating away at me.
The cuts aren't great - I need to relevel the machine, tighten the X-axis gibs, and spend more time tuning the servos. Feeds/speeds were back of the envelope and clearly too much for the little 3/16" HSS tool in the pocket
But to me, today, this is a trophy. Really appreciate everybody's help and I'm feeling motivated - leaving for IMTS tomorrow and can't wait to get back to the machine next weekend.
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14 Sep 2018 20:45 - 14 Sep 2018 20:45 #117556
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
Re-tuned XYZ axes and am pretty happy with where they are now. Still believe the X gibs needs to be tightened because I hear a thud when changing directions from X+ to X- (tightening the gibs moves it in the X+ direction).
Thinking about the spindle position PID - is it possible that running my VFD in vector mode is causing trouble with the Linux control loop?
When I was running the part in the last post I heard some variation in my spindle speed so I need to look into the VFD parameters there as well.
Thinking about the spindle position PID - is it possible that running my VFD in vector mode is causing trouble with the Linux control loop?
When I was running the part in the last post I heard some variation in my spindle speed so I need to look into the VFD parameters there as well.
Last edit: 14 Sep 2018 20:45 by giz.
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