Gantry machine progress

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9 years 3 months ago #96810 by Yannis
Replied by Yannis on topic Gantry machine progres

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9 years 3 months ago #96816 by andypugh
Replied by andypugh on topic Gantry machine progres

Yannis wrote: I rotate the joint 1 motor and the joint 0 motor 1 rotation and the values at the display was completely different even tho the settings for the encoder is the same


It sounds like you have confused the mapping between joints and axes.

Maybe make a table of which joint is which axis, and which encoder and pwm/analog corresponds to each joint.

(It is entirely valid to have joint 0 control the Z axis using encoder 2 and PWM 1. Though somewhat confusing).

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9 years 3 months ago #96826 by Yannis
Replied by Yannis on topic Gantry machine progres
i have the same encoder scale for the 2 motors(800encoder scale)
they sud count the same value per rotation
after one rotation of motor axis the one count 10mm(witch is the right value) and the other one is count 26885-19587=7298mm

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9 years 3 months ago #96830 by andypugh
Replied by andypugh on topic Gantry machine progres
But which encoder counter is connected to which axis?

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9 years 3 months ago #96840 by Yannis
Replied by Yannis on topic Gantry machine progres
join0 to tune0 to x one rotation of the motor axis 10mm correct(encoder scale 800)
joint1,joint2 to tune1,tune2 to y1,y2 one rotation of the motor axis 7298mm (encoder scale 800)common P>I>D>settings

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9 years 3 months ago #96851 by andypugh
Replied by andypugh on topic Gantry machine progres
Code:
setp pid.y1.Pgain [JOINT_2]P setp pid.y1.Igain [JOINT_2]I setp pid.y1.Dgain [JOINT_2]D setp pid.y1.bias [JOINT_2]BIAS setp pid.y1.FF0 [JOINT_2]FF0 setp pid.y1.FF1 [JOINT_2]FF1 setp pid.y1.FF2 [JOINT_2]FF2 setp pid.y1.deadband [JOINT_2]DEADBAND setp pid.y1.maxoutput [JOINT_2]MAX_OUTPUT setp pid.y1.error-previous-target true net y1-index-enable <=> pid.y1.index-enable net y1-enable => pid.y1.enable net y1-pos-cmd => pid.y1.command net y1-vel-cmd => pid.y1.command-deriv net y1-pos-fb => pid.y1.feedback net y1-output => pid.y1.output # ---PWM Generator signals/setup--- setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [JOINT_1]OUTPUT_SCALE setp hm2_5i25.0.7i77.0.1.analogout2-minlim [JOINT_1]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [JOINT_1]OUTPUT_MAX_LIMIT net y1-output => hm2_5i25.0.7i77.0.1.analogout2 net y1-pos-cmd joint.2.motor-pos-cmd net y1-enable joint.2.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 [JOINT_1]ENCODER_SCALE net y1-pos-fb <= hm2_5i25.0.encoder.02.position net y1-vel-fb <= hm2_5i25.0.encoder.02.velocity net y1-pos-fb => joint.2.motor-pos-fb net y1-index-enable joint.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable net y1-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts # ---setup home / limit switch signals--- net y1-home-sw => joint.2.home-sw-in net y1-neg-limit => joint.2.neg-lim-sw-in net y1-pos-limit => joint.2.pos-lim-sw-in

For Y1 ou seem to be choosing the PID gains from the [JOINT_2] section (and I wouldn't) and the encoder scale from the [JOINT_1] section (and I wouldn't :-)

But the main error is that you are setting the scale of encoder.01 in the joint.02 section.

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