LinuxCNC 2.7.3 Trajectory Planner, circle problem
- matiq05
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04 Jan 2016 08:39 #67805
by matiq05
LinuxCNC 2.7.3 Trajectory Planner, circle problem was created by matiq05
Hello, i have little problem with new trajectory planner in LinuxCNC 2.7.3. When i start gcode with circles, like this:
I need do it fast, but circles are made in 2 steps...
Machine starts circle fine but slow down when reach second point, and start accelerate again to first point of circle. I try use G64 Pxx Qxx but it's not help. Always the same thing... 2 stepc circle.
Somone tell me what is wrong ? In INI file i add new trajectory planer options:
And experiment with all, but still bad
Please help
Warning: Spoiler!
G90G17G21
G64
G00 X0.000 Y0.000 Z8.000 F55000
G00 X100.000 Y50.000 Z8.000
G00 X100.000 Y50.000 Z3.000
G01 X100.000 Y50.000 Z-5.000
G02 X13.124 Y83.767 R-50.000
G02 X100.000 Y50.000 R50.000
G00 X100.000 Y50.000 Z8.000
G00 X296.318 Y192.579 Z8.000
G00 X296.318 Y192.579 Z3.000
G01 X296.318 Y192.579 Z-5.000
G02 X122.567 Y260.113 R-100.000
G02 X296.318 Y192.579 R100.000
G00 X296.318 Y192.579 Z8.000
G00 X647.090 Y435.084 Z8.000
G00 X647.090 Y435.084 Z3.000
G01 X647.090 Y435.084 Z-5.000
G02 X299.587 Y570.151 R-200.000
G02 X647.090 Y435.084 R200.000
G00 X647.090 Y435.084 Z8.000
G00 X1094.054 Y1091.331 Z8.000
G00 X1094.054 Y1091.331 Z3.000
G01 X1094.054 Y1091.331 Z-5.000
G02 X399.049 Y1361.465 R-400.000
G02 X1094.054 Y1091.331 R400.000
G00 X1094.054 Y1091.331 Z8.000
M30
G64
G00 X0.000 Y0.000 Z8.000 F55000
G00 X100.000 Y50.000 Z8.000
G00 X100.000 Y50.000 Z3.000
G01 X100.000 Y50.000 Z-5.000
G02 X13.124 Y83.767 R-50.000
G02 X100.000 Y50.000 R50.000
G00 X100.000 Y50.000 Z8.000
G00 X296.318 Y192.579 Z8.000
G00 X296.318 Y192.579 Z3.000
G01 X296.318 Y192.579 Z-5.000
G02 X122.567 Y260.113 R-100.000
G02 X296.318 Y192.579 R100.000
G00 X296.318 Y192.579 Z8.000
G00 X647.090 Y435.084 Z8.000
G00 X647.090 Y435.084 Z3.000
G01 X647.090 Y435.084 Z-5.000
G02 X299.587 Y570.151 R-200.000
G02 X647.090 Y435.084 R200.000
G00 X647.090 Y435.084 Z8.000
G00 X1094.054 Y1091.331 Z8.000
G00 X1094.054 Y1091.331 Z3.000
G01 X1094.054 Y1091.331 Z-5.000
G02 X399.049 Y1361.465 R-400.000
G02 X1094.054 Y1091.331 R400.000
G00 X1094.054 Y1091.331 Z8.000
M30
I need do it fast, but circles are made in 2 steps...
Machine starts circle fine but slow down when reach second point, and start accelerate again to first point of circle. I try use G64 Pxx Qxx but it's not help. Always the same thing... 2 stepc circle.
Somone tell me what is wrong ? In INI file i add new trajectory planer options:
Warning: Spoiler!
ARC_BLEND_ENABLE = 1
ARC_BLEND_FALLBACK_ENABLE = 0
ARC_BLEND_OPTIMIZATION_DEPTH = 50
ARC_BLEND_GAP_CYCLES = 4
ARC_BLEND_RAMP_FREQ = 20
ARC_BLEND_FALLBACK_ENABLE = 0
ARC_BLEND_OPTIMIZATION_DEPTH = 50
ARC_BLEND_GAP_CYCLES = 4
ARC_BLEND_RAMP_FREQ = 20
And experiment with all, but still bad
Please help
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- andypugh
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04 Jan 2016 10:59 #67811
by andypugh
Replied by andypugh on topic LinuxCNC 2.7.3 Trajectory Planner, circle problem
It is possible that your machine acceleration limits are the problem.
What are your velocity and accel limits in the INI file?
What are your velocity and accel limits in the INI file?
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- matiq05
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04 Jan 2016 11:40 #67812
by matiq05
Replied by matiq05 on topic LinuxCNC 2.7.3 Trajectory Planner, circle problem
Hmm in INI file i have only set MAX_VELOCITY and DEFAULT_VELOCITY, i will try with accel, but when in gcode circle have manny points then machine work correcly
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- andypugh
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04 Jan 2016 15:25 #67836
by andypugh
The acceleration is a per-axis setting. But if short segments work then it probably isn't that.
Replied by andypugh on topic LinuxCNC 2.7.3 Trajectory Planner, circle problem
Hmm in INI file i have only set MAX_VELOCITY and DEFAULT_VELOCITY, i will try with accel, but when in gcode circle have manny points then machine work correcly
The acceleration is a per-axis setting. But if short segments work then it probably isn't that.
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- Rick G
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05 Jan 2016 07:41 #67908
by Rick G
Replied by Rick G on topic LinuxCNC 2.7.3 Trajectory Planner, circle problem
Tried the original code which has a G64 on a sim and it shows the slow down you reported.
However edited the file with G64 P.05 Q.05 and did not see slow down.
Rick G
However edited the file with G64 P.05 Q.05 and did not see slow down.
Rick G
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- cncbasher
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05 Jan 2016 08:43 #67910
by cncbasher
Replied by cncbasher on topic LinuxCNC 2.7.3 Trajectory Planner, circle problem
what cam program are you using ? , this is a common problem .
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- matiq05
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05 Jan 2016 10:14 #67914
by matiq05
Replied by matiq05 on topic LinuxCNC 2.7.3 Trajectory Planner, circle problem
This is my INI file:
I try with G64 P.05 Q.05 and same problem...
And one strange thing, second part of circle machine make faster than first
Warning: Spoiler!
# Generated by stepconf 1.1 at Wed Dec 30 13:04:28 2015
# Je÷li zmodyfikujesz ten plik zmainy zostan˘
# nadpisane gdy uruchomisz ponownie Stepconf
[EMC]
MACHINE =Prototypowa
DEBUG = 0
[DISPLAY]
DISPLAY = axis
EDITOR = mousepad
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 100.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 1000.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
PROGRAM_PREFIX = /home/prot/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
[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
BASE_PERIOD = 9300
SERVO_PERIOD = 1000000
[HAL]
HALFILE = Prototypowa.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 100.00
MAX_VELOCITY = 1000.00
ARC_BLEND_ENABLE = 1
ARC_BLEND_FALLBACK_ENABLE = 0
ARC_BLEND_OPTIMIZATION_DEPTH = 200
ARC_BLEND_GAP_CYCLES = 2
ARC_BLEND_RAMP_FREQ = 300
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 881.048387097
MAX_ACCELERATION = 3000.0
STEPGEN_MAXACCEL = 3750.0
SCALE = 115.942028986
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -0.001
MAX_LIMIT = 1300.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -50.000000
HOME_LATCH_VEL = 4.312500
HOME_SEQUENCE = 1
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 881.048387097
MAX_ACCELERATION = 3000.0
STEPGEN_MAXACCEL = 3750.0
SCALE = 115.942028986
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -0.001
MAX_LIMIT = 2400.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -50.000000
HOME_LATCH_VEL = 4.312500
HOME_SEQUENCE = 1
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 334.0
MAX_ACCELERATION = 5000.0
STEPGEN_MAXACCEL = 6250.0
SCALE = 250.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -250.0
MAX_LIMIT = 0.001
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 50.000000
HOME_LATCH_VEL = -2.000000
HOME_SEQUENCE = 0
# Je÷li zmodyfikujesz ten plik zmainy zostan˘
# nadpisane gdy uruchomisz ponownie Stepconf
[EMC]
MACHINE =Prototypowa
DEBUG = 0
[DISPLAY]
DISPLAY = axis
EDITOR = mousepad
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 100.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 1000.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
PROGRAM_PREFIX = /home/prot/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
[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
BASE_PERIOD = 9300
SERVO_PERIOD = 1000000
[HAL]
HALFILE = Prototypowa.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 100.00
MAX_VELOCITY = 1000.00
ARC_BLEND_ENABLE = 1
ARC_BLEND_FALLBACK_ENABLE = 0
ARC_BLEND_OPTIMIZATION_DEPTH = 200
ARC_BLEND_GAP_CYCLES = 2
ARC_BLEND_RAMP_FREQ = 300
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 881.048387097
MAX_ACCELERATION = 3000.0
STEPGEN_MAXACCEL = 3750.0
SCALE = 115.942028986
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -0.001
MAX_LIMIT = 1300.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -50.000000
HOME_LATCH_VEL = 4.312500
HOME_SEQUENCE = 1
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 881.048387097
MAX_ACCELERATION = 3000.0
STEPGEN_MAXACCEL = 3750.0
SCALE = 115.942028986
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -0.001
MAX_LIMIT = 2400.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -50.000000
HOME_LATCH_VEL = 4.312500
HOME_SEQUENCE = 1
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 334.0
MAX_ACCELERATION = 5000.0
STEPGEN_MAXACCEL = 6250.0
SCALE = 250.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -250.0
MAX_LIMIT = 0.001
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 50.000000
HOME_LATCH_VEL = -2.000000
HOME_SEQUENCE = 0
I try with G64 P.05 Q.05 and same problem...
And one strange thing, second part of circle machine make faster than first
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- andypugh
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05 Jan 2016 12:05 #67916
by andypugh
Replied by andypugh on topic LinuxCNC 2.7.3 Trajectory Planner, circle problem
You have F55000 or 55m.min / 0.9 m/s
Acceleration in a circular path is v^2 / r,
16.8m/s^2 for a 50mm arc
8.4m/s^2 for a 100mm arc
4.2m/s for a 200mm arc
Your machine acceleration limits are 3m/s^2 for each axis.
Working the other way, you would expect a velocity of
23m/min at 50mm radius
33m/min at a 100mm radius
46m/min at 200mm radius.
Is this what you are seeing?
Acceleration in a circular path is v^2 / r,
16.8m/s^2 for a 50mm arc
8.4m/s^2 for a 100mm arc
4.2m/s for a 200mm arc
Your machine acceleration limits are 3m/s^2 for each axis.
Working the other way, you would expect a velocity of
23m/min at 50mm radius
33m/min at a 100mm radius
46m/min at 200mm radius.
Is this what you are seeing?
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- matiq05
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05 Jan 2016 12:15 #67917
by matiq05
Replied by matiq05 on topic LinuxCNC 2.7.3 Trajectory Planner, circle problem
Acceleration and velocity is good but why machine must stop on point and start again accelerate ?
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05 Jan 2016 12:59 - 07 Jan 2016 07:20 #67919
by matiq05
Replied by matiq05 on topic LinuxCNC 2.7.3 Trajectory Planner, circle problem
Hmm.. i write my own circle in g-code and copy g-code with circle from previous code i upload here and for some reason it's work.. Circles are make fast as machine can, no stop, all in max speed. Why ??
This is code:
/edit
I have new information/problem. So, i have this code:
This code have like you see 3 circles. This g-code run fine, machine run fast on arc and i like it. But this all circle is make on Z-5, and when i add in Gcode before circle Z10, like this:
Then last circle is run in 2 steps like before... WHY ?? What is wrong ?
This is code:
Warning: Spoiler!
G90G17G21
G00 X0.000 Y0.000 Z8.000 F55000
G00 X-0.000 Y-0.000 Z3.000
G01 X-0.000 Y-0.000 Z-5.000 F55000
G01 X0 Y200
G02 X400 Y200 R200
G02 X0 Y200 R-200
G01 X296.318 Y192.579
G02 X122.567 Y260.113 R-100.000
G02 X296.318 Y192.579 R100.000
G00 Z0
M30
G00 X0.000 Y0.000 Z8.000 F55000
G00 X-0.000 Y-0.000 Z3.000
G01 X-0.000 Y-0.000 Z-5.000 F55000
G01 X0 Y200
G02 X400 Y200 R200
G02 X0 Y200 R-200
G01 X296.318 Y192.579
G02 X122.567 Y260.113 R-100.000
G02 X296.318 Y192.579 R100.000
G00 Z0
M30
/edit
I have new information/problem. So, i have this code:
Warning: Spoiler!
G90G17G21
G00 X0.000 Y0.000 Z8.000 F34000
G00 X-0.000 Y-0.000 Z3.000
G01 X-0.000 Y-0.000 Z-5.000
G01 X0 Y200
G02 X400 Y200 R200
G02 X0 Y200 R-200
G01 X296.318 Y192.579
G02 X122.567 Y260.113 R-100.000
G02 X296.318 Y192.579 R100.000
G00 X647.090 Y435.084
G01 Z-5
G02 X299.587 Y570.151 R-200.000
G02 X647.090 Y435.084 R200.000
G00 Z0
M30
G00 X0.000 Y0.000 Z8.000 F34000
G00 X-0.000 Y-0.000 Z3.000
G01 X-0.000 Y-0.000 Z-5.000
G01 X0 Y200
G02 X400 Y200 R200
G02 X0 Y200 R-200
G01 X296.318 Y192.579
G02 X122.567 Y260.113 R-100.000
G02 X296.318 Y192.579 R100.000
G00 X647.090 Y435.084
G01 Z-5
G02 X299.587 Y570.151 R-200.000
G02 X647.090 Y435.084 R200.000
G00 Z0
M30
This code have like you see 3 circles. This g-code run fine, machine run fast on arc and i like it. But this all circle is make on Z-5, and when i add in Gcode before circle Z10, like this:
Warning: Spoiler!
G90G17G21
G00 X0.000 Y0.000 Z8.000 F34000
G00 X-0.000 Y-0.000 Z3.000
G01 X-0.000 Y-0.000 Z-5.000
G01 X0 Y200
G02 X400 Y200 R200
G02 X0 Y200 R-200
G01 X296.318 Y192.579
G02 X122.567 Y260.113 R-100.000
G02 X296.318 Y192.579 R100.000
G00 X647.090 Y435.084 Z10
G01 Z-5
G02 X299.587 Y570.151 R-200.000
G02 X647.090 Y435.084 R200.000
G00 Z0
M30
G00 X0.000 Y0.000 Z8.000 F34000
G00 X-0.000 Y-0.000 Z3.000
G01 X-0.000 Y-0.000 Z-5.000
G01 X0 Y200
G02 X400 Y200 R200
G02 X0 Y200 R-200
G01 X296.318 Y192.579
G02 X122.567 Y260.113 R-100.000
G02 X296.318 Y192.579 R100.000
G00 X647.090 Y435.084 Z10
G01 Z-5
G02 X299.587 Y570.151 R-200.000
G02 X647.090 Y435.084 R200.000
G00 Z0
M30
Then last circle is run in 2 steps like before... WHY ?? What is wrong ?
Last edit: 07 Jan 2016 07:20 by matiq05. Reason: new info
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