PID and Homing with index.

UAVpilot
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8 years 10 months ago - 8 years 10 months ago #102817 by UAVpilot

Replied by UAVpilot on topic PID and Homing with index.

index-enable connected.
hm2_7i92.0.encoder.00.index-enable <=> pid.x.index-enable <=> axis.0.index-enable

INI & HAL, inessential removed:

Warning: Spoiler!

Code:

---------8<------------INI----------8<---------
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 2
MIN_FERROR = 1
MAX_VELOCITY = 50
MAX_ACCELERATION = 1000
P = 1.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10.0
INPUT_SCALE = 1024.0
OUTPUT_SCALE = 10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -155.00
MAX_LIMIT = 0
HOME_OFFSET = 0

HOME_SEARCH_VEL = 50
HOME_LATCH_VEL = -3
HOME_FINAL_VEL = 10
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
---------8<-------------8<----------8<----------


---------8<------------HAL----------8<---------
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
addf motion-command-handler servo-thread
addf motion-controller servo-thread

loadrt hostmot2
loadrt [HOSTMOT2]DRIVER0 board_ip=[HOSTMOT2]BOARD0IP config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000xxx"
addf hm2_7i92.0.read servo-thread
addf hm2_7i92.0.write servo-thread

loadrt pid names=pid.x,pid.z,pid.s
addf pid.x.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread

....

#*******************
#  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

net x-index-enable  <=>  pid.x.index-enable
net x-enable         => pid.x.enable
net x-output         => pid.x.output
net x-pos-cmd        => pid.x.command
net x-vel-fb         => pid.x.feedback-deriv
net x-pos-fb         => pid.x.feedback

net x-pos-cmd        <= axis.0.motor-pos-cmd
net x-enable         <= axis.0.amp-enable-out
net x-pos-fb         <= axis.0.motor-pos-fb
net x-index-enable    axis.0.index-enable


# ---setup home / limit switch signals---
#net x-home-sw     =>  axis.0.home-sw-in
net x-neg-limit   =>  axis.0.neg-lim-sw-in
net x-pos-limit   =>  axis.0.pos-lim-sw-in axis.0.home-sw-in

# ---PWM Generator signals/setup---
setp   hm2_7i92.0.7i77.0.1.analogout0-scalemax  [AXIS_0]OUTPUT_SCALE
setp   hm2_7i92.0.7i77.0.1.analogout0-minlim    [AXIS_0]OUTPUT_MIN_LIMIT
setp   hm2_7i92.0.7i77.0.1.analogout0-maxlim    [AXIS_0]OUTPUT_MAX_LIMIT

net x-output    => hm2_7i92.0.7i77.0.1.analogout0
# enable _all_ sserial pwmgens
net x-enable   hm2_7i92.0.7i77.0.1.analogena

# ---Encoder feedback signals/setup---

setp    hm2_7i92.0.encoder.00.counter-mode 0
setp    hm2_7i92.0.encoder.00.filter 1
setp    hm2_7i92.0.encoder.00.index-invert 0
setp    hm2_7i92.0.encoder.00.index-mask 0
setp    hm2_7i92.0.encoder.00.index-mask-invert 0
setp    hm2_7i92.0.encoder.00.scale  [AXIS_0]INPUT_SCALE

net x-pos-fb               <=  hm2_7i92.0.encoder.00.position
net x-vel-fb               <=  hm2_7i92.0.encoder.00.velocity
net x-index-enable         <=> hm2_7i92.0.encoder.00.index-enable
net x-pos-rawcounts        <=  hm2_7i92.0.encoder.00.rawcounts

net x-neg-limit hm2_7i92.0.7i77.0.0.input-04
net x-pos-limit hm2_7i92.0.7i77.0.0.input-03

#setp pid.x.error-previous-target 0

....

I tried to change the order of the components in the thread - the result does not change. As expected.

Code:

...
addf pid.x.do-pid-calcs servo-thread
...
addf motion-command-handler servo-thread
addf motion-controller servo-thread
...

Last edit: 8 years 10 months ago by UAVpilot.

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PCW
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8 years 10 months ago #102823 by PCW

Replied by PCW on topic PID and Homing with index.

Thread order is wrong, it should be:
hardware read
everything else
hardware write

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UAVpilot
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8 years 10 months ago - 8 years 10 months ago #102851 by UAVpilot

Replied by UAVpilot on topic PID and Homing with index.

So?

Code:

loadrt hostmot2
loadrt [HOSTMOT2]DRIVER0 board_ip=[HOSTMOT2]BOARD0IP config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000xxx"
addf hm2_7i92.0.read servo-thread

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
addf motion-command-handler servo-thread
addf motion-controller servo-thread

loadrt pid names=pid.x,pid.z,pid.s
addf pid.x.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread

....

addf hm2_7i92.0.write servo-thread

I tried it. As expected, the problem remained.

I noticed that on the given oscillograms I was mistaken in the designation of cycles: The inscription "Cycle N + 1" should be read as "Cycle N + 2". Below is the correct picture. Sorry.

My patch causes the PID to skip the cycle N+1

Last edit: 8 years 10 months ago by UAVpilot.

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PCW
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8 years 10 months ago #102852 by PCW

Replied by PCW on topic PID and Homing with index.

I suspect there's still a hal file issue of some kind as this is not a common problem with home to index

The feedback position should change at the same time as and the commanded position. If not
that still suggests a thread order or HAL connection problem

Can you post your complete hal and ini files?

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UAVpilot
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8 years 10 months ago - 8 years 10 months ago #102853 by UAVpilot

Replied by UAVpilot on topic PID and Homing with index.

File Attachment:

File Name: pid-test.tar.gz
File Size:30.33 KB

Last edit: 8 years 10 months ago by UAVpilot.

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PCW
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8 years 10 months ago #102854 by PCW

Replied by PCW on topic PID and Homing with index.

Note, here is the expected behavior
freeby.mesanet.com/home-index.png

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PID and Homing with index.

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