difference between 2.7 and 2.8pre with mpg
- Clive S
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10 Sep 2018 10:21 #117285
by Clive S
difference between 2.7 and 2.8pre with mpg was created by Clive S
The code below works in Lcnc V. 2.7.14 but I can't seem to get it working in 2.8pre.
I see in halmeter all the relevant pins changing state. ie encoder.2---- counts, phase-A, velocity etc.. but it does not jog with the mpg in Z
I have noticed that the pin axis.z.pos-cmd changes with the keyboard jog key but not with the mpg. What I am missing?
# MPG stuff here
#### load ilowpass for mpg smoothing ###
loadrt ilowpass names=ilowpass.mpgX,ilowpass.mpgY,ilowpass.mpgZ
addf ilowpass.mpgZ servo-thread
setp ilowpass.mpgZ.scale 1
setp ilowpass.mpgZ.gain 0.1
setp axis.2.jog-vel-mode 1
#set axis to the required increment ( 0.01)
net jog-inc-z axis.2.jog-scale
sets jog-inc-z 0.01
#encoder Z
net mpg-za encoder.2.phase-A <= hm2_7i92.0.gpio.032.in
net mpg-zb encoder.2.phase-B <= hm2_7i92.0.gpio.033.in
# send mpg-encoder counts to required axis
# Z encoder
net pend-counts-z axis.2.jog-counts
net pend-counts-z ilowpass.mpgZ.in
net encoder-count-z ilowpass.mpgZ.out
net pend-counts-z encoder.2.counts
I see in halmeter all the relevant pins changing state. ie encoder.2---- counts, phase-A, velocity etc.. but it does not jog with the mpg in Z
I have noticed that the pin axis.z.pos-cmd changes with the keyboard jog key but not with the mpg. What I am missing?
# MPG stuff here
#### load ilowpass for mpg smoothing ###
loadrt ilowpass names=ilowpass.mpgX,ilowpass.mpgY,ilowpass.mpgZ
addf ilowpass.mpgZ servo-thread
setp ilowpass.mpgZ.scale 1
setp ilowpass.mpgZ.gain 0.1
setp axis.2.jog-vel-mode 1
#set axis to the required increment ( 0.01)
net jog-inc-z axis.2.jog-scale
sets jog-inc-z 0.01
#encoder Z
net mpg-za encoder.2.phase-A <= hm2_7i92.0.gpio.032.in
net mpg-zb encoder.2.phase-B <= hm2_7i92.0.gpio.033.in
# send mpg-encoder counts to required axis
# Z encoder
net pend-counts-z axis.2.jog-counts
net pend-counts-z ilowpass.mpgZ.in
net encoder-count-z ilowpass.mpgZ.out
net pend-counts-z encoder.2.counts
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- PCW
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10 Sep 2018 13:26 #117288
by PCW
Replied by PCW on topic difference between 2.7 and 2.8pre with mpg
One missing thing is axis.z.jog-enable
also at least according to my motion man page:
net pend-counts-z axis.2.jog-counts
should be
net pend-counts-z axis.Z.jog-counts
Also the low pass filter is bypassed, not sure if that's just for debugging
also at least according to my motion man page:
net pend-counts-z axis.2.jog-counts
should be
net pend-counts-z axis.Z.jog-counts
Also the low pass filter is bypassed, not sure if that's just for debugging
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- Clive S
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10 Sep 2018 16:05 #117295
by Clive S
#encoder Z
net mpg-za encoder.2.phase-A <= hm2_7i92.0.gpio.025.in
net mpg-zb encoder.2.phase-B <= hm2_7i92.0.gpio.026.in
# Z encoder
net pend-counts-z encoder.2.counts
net pend-counts-z ilowpass.mpgZ.in
#net encoder-count-z ilowpass.mpgZ.out
net pend-z ilowpass.mpgZ.out
net pend-z axis.z.jog-counts
setp axis.z.jog-enable true
I see all the above pins and signals change in halmeter but not reflected in the DRO Z (no movement)
I can't see where I am going wrong. I have cut the ilowpass out for now
Replied by Clive S on topic difference between 2.7 and 2.8pre with mpg
Thanks for the help yet again Peter:One missing thing is axis.z.jog-enable
also at least according to my motion man page:
net pend-counts-z axis.2.jog-counts
should be
net pend-counts-z axis.Z.jog-counts
Also the low pass filter is bypassed, not sure if that's just for debugging
#encoder Z
net mpg-za encoder.2.phase-A <= hm2_7i92.0.gpio.025.in
net mpg-zb encoder.2.phase-B <= hm2_7i92.0.gpio.026.in
# Z encoder
net pend-counts-z encoder.2.counts
net pend-counts-z ilowpass.mpgZ.in
#net encoder-count-z ilowpass.mpgZ.out
net pend-z ilowpass.mpgZ.out
net pend-z axis.z.jog-counts
setp axis.z.jog-enable true
I see all the above pins and signals change in halmeter but not reflected in the DRO Z (no movement)
I can't see where I am going wrong. I have cut the ilowpass out for now
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- PCW
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10 Sep 2018 16:30 #117297
by PCW
Replied by PCW on topic difference between 2.7 and 2.8pre with mpg
Has the system been homed when you are trying to jog?
The following user(s) said Thank You: Clive S
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- Clive S
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10 Sep 2018 16:49 #117299
by Clive S
Thanks that was it. What fooled me was that it would jog with the keyboard so I expected it to do the same with the mpg.
Now I just need to sort the ilowpass out.
Replied by Clive S on topic difference between 2.7 and 2.8pre with mpg
Has the system been homed when you are trying to jog?
Thanks that was it. What fooled me was that it would jog with the keyboard so I expected it to do the same with the mpg.
Now I just need to sort the ilowpass out.
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- PCW
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10 Sep 2018 17:06 #117300
by PCW
Replied by PCW on topic difference between 2.7 and 2.8pre with mpg
Yes 2.8 is in joint mode before homing (the GUI must know this so jogs via the joint pins with the KB)
The following user(s) said Thank You: Clive S
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- Clive S
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10 Sep 2018 17:55 #117304
by Clive S
Yes I should have known. If you have the time could you look over the ilowpass for me.
Replied by Clive S on topic difference between 2.7 and 2.8pre with mpg
Yes 2.8 is in joint mode before homing (the GUI must know this so jogs via the joint pins with the KB)
Yes I should have known. If you have the time could you look over the ilowpass for me.
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- andypugh
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11 Sep 2018 14:40 #117337
by andypugh
Replied by andypugh on topic difference between 2.7 and 2.8pre with mpg
In 2.8 you probably want to connect the mpg to both
axis.L.jog-counts
_and_
joint.N.jog-counts
axis.L.jog-counts
_and_
joint.N.jog-counts
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- Clive S
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11 Sep 2018 15:26 #117347
by Clive S
# x encoder
net pend-counts-x encoder.0.counts
net pend-counts-x ilowpass.mpgX.in
net pend-x ilowpass.mpgX.out
net pend-x axis.x.jog-counts
net pend-x joint.x.jog-counts
setp axis.x.jog-enable true
Replied by Clive S on topic difference between 2.7 and 2.8pre with mpg
It appears to work as is on the bench . Do you mean like this:-In 2.8 you probably want to connect the mpg to both
axis.L.jog-counts
_and_
joint.N.jog-counts
# x encoder
net pend-counts-x encoder.0.counts
net pend-counts-x ilowpass.mpgX.in
net pend-x ilowpass.mpgX.out
net pend-x axis.x.jog-counts
net pend-x joint.x.jog-counts
setp axis.x.jog-enable true
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- andypugh
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12 Sep 2018 13:13 #117393
by andypugh
Replied by andypugh on topic difference between 2.7 and 2.8pre with mpg
You need both if you want to be able to jog before homing.
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