confused about velocity settings in the INI
- Aciera
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13 Jun 2020 08:58 - 13 Jun 2020 09:01 #171382
by Aciera
confused about velocity settings in the INI was created by Aciera
I have a bar loader configured as a U axis in a mill configuration using stepper motors. This u axis, unlike all other axis, is a direct drive rack and pinion. Because this feeder has a travel length of 4 meters I want to increase the G0 rapid velocity by about a factor of 10 without affecting the settings of the other axis.
Now I got myself confused about all the different velocities and acceleration settings in the INI file.
So we have this in the DISPLAY section:
this in the TRAJ section
this in the AXIS section:
this in the JOINT section:
and this in the joint section that is actually for the hostmot2 stepgen
So my understanding is that in JOINT mode (so also for the homing process since there is no axis before the joint is homed) the settings in the JOINT section are relevant. After homing it is the AXIS section.
So then in the DISPLAY section we set the min/max values for the jog slider in the GUI and the TRAJ setting are for the motion planner.
So in order to increase the G0 velocity for the U-Axis only I should just be able to increase the settings in the U-AXIS section.
I tried that but it does not seem to make a difference. The U-AXIS still moves at about 25mm/s.
Because the machine is already in use I can't spend to much time fiddling with it. So I would like to have a somewhat clear understanding of what my approach should be.
So should I increase the TRAJ velocity and the JOINT and the AXIS for U? Should the settings in the JOINT and AXIS sections always be the same?
Thanks
Warning: Spoiler!
[EMC]
MACHINE = Deckel-FP2
DEBUG = 0
VERSION = 1.1
[DISPLAY]
# required NativeCAM item :
NCAM_DIR = ncam
# required NativeCAM items :
EMBED_TAB_COMMAND = gladevcp -x {XID} -U --catalog=mill /usr/share/linuxcnc/aux_gladevcp/NativeCAM/ncam.ui
EMBED_TAB_NAME = NativeCAM
EMBED_TAB_LOCATION = ntb_user_tabs
EMBED_TAB_NAME= Kinematik-LED
EMBED_TAB_COMMAND= halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -u ./hitcounter.py -H ./gladevcp/kins-leds.hal -x {XID} ./gladevcp/kins-leds.ui
EMBED_TAB_LOCATION = box_cooling
EMBED_TAB_NAME= Spindle-rpm-sensor
EMBED_TAB_COMMAND= gladevcp -H ./gladevcp/spindle-sensor.hal -x {XID} ./gladevcp/spindle-sensor.ui
EMBED_TAB_LOCATION = box_custom_3
DISPLAY = gmoccapy
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/user/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 50.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyzb
[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
SUBROUTINE_PATH = ncam/my-stuff:ncam/lib/mill:ncam/lib/utilities:./remap_subs
FEATURES = 8
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
[HMOT]
# **** This is for info only ****
CARD0=hm2_7i76e.0
[HAL]
HALUI = halui
HALFILE = Deckel-FP2.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
HALCMD = net :b-rot-axis-set <= motion.digital-out-03 => mux.offset_z.sel => mux.offset_x.sel
HALCMD = net :table-x joint.0.pos-fb
HALCMD = net :saddle-y joint.1.pos-fb
HALCMD = net :spindle-z joint.2.pos-fb
HALCMD = net :tilt-b joint.3.pos-fb
HALCMD = net :tool-offset motion.tooloffset.z
HALCMD = net :tool-offset xyzbc-trt-kins.tool-offset
HALCMD = net
-offset xyzbc-trt-kins.x-offset
HALCMD = net :z-offset xyzbc-trt-kins.z-offset
#HALCMD = sets-offset 100
#HALCMD = sets :z-offset -100
[HALUI]
MDI_COMMAND = G10 L20 P0 X0 ( Set X to zero )
MDI_COMMAND = G10 L20 P0 Y0 ( Set Y to zero )
MDI_COMMAND = G10 L20 P0 Z0 ( Set Z to zero )
MDI_COMMAND = G10 L20 P0 U0 ( Set U to zero )
[KINS]
JOINTS = 6
KINEMATICS = xyzbc-trt-kins sparm=identityfirst
[TRAJ]
COORDINATES = XYZBU
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00
NO_FORCE_HOMING = 1
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#******************************************
[AXIS_X]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -0.1
MAX_LIMIT = 400.1
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 35
STEPGEN_MAXACCEL = 300
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 50000
DIRHOLD = 1000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 3000
#MIN_LIMIT = -0.1
#MAX_LIMIT = 400.1
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -25
HOME_LATCH_VEL = 1
#HOME_FINAL_VEL = 15
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#******************************************
#******************************************
[AXIS_Y]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -200.5
MAX_LIMIT = 0.01
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 35
STEPGEN_MAXACCEL = 300
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 50000
DIRHOLD = 1000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 3000
MIN_LIMIT = -200.5
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 25
HOME_LATCH_VEL = -1
#HOME_FINAL_VEL = 15
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************
#******************************************
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -270.1
MAX_LIMIT = 0.01
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 35
STEPGEN_MAXACCEL = 300
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 50000
DIRHOLD = 1000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 3000
#MIN_LIMIT = -270.5
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 25
HOME_LATCH_VEL = -1
#HOME_FINAL_VEL = 15
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#******************************************
[AXIS_A]
#MIN_LIMIT = -90
#MAX_LIMIT = 90
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 40
MAX_ACCELERATION = 400
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 49
STEPGEN_MAXACCEL = 500
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 10
#MIN_LIMIT = -90
#MAX_LIMIT = 90
#HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = 25
#HOME_LATCH_VEL = -1
#HOME_FINAL_VEL = 15
#HOME_USE_INDEX = NO
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#*********************************************************************
[AXIS_B]
MIN_LIMIT = -90
MAX_LIMIT = 90
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
[JOINT_4]
TYPE = ANGULAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 40
MAX_ACCELERATION = 400
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 49
STEPGEN_MAXACCEL = 500
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 10
MIN_LIMIT = -90
MAX_LIMIT = 90
#HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = 25
#HOME_LATCH_VEL = -1
#HOME_FINAL_VEL = 15
#HOME_USE_INDEX = NO
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
[AXIS_U]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -4000.1
MAX_LIMIT = 0.1
[JOINT_5]
TYPE = LINEAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 35
STEPGEN_MAXACCEL = 350
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 50000
DIRHOLD = 1000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 48.165
MIN_LIMIT = -4000.1
MAX_LIMIT = 0.1
#HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = -25
#HOME_LATCH_VEL = 1
#HOME_FINAL_VEL = 15
#HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#**************************************33
#********************
# Spindle
#********************
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_eth
# BOARD0=7i76e
[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = -0.01633987
OUTPUT_SCALE = 6000
OUTPUT_MIN_LIMIT = 100
OUTPUT_MAX_LIMIT = 6300
MACHINE = Deckel-FP2
DEBUG = 0
VERSION = 1.1
[DISPLAY]
# required NativeCAM item :
NCAM_DIR = ncam
# required NativeCAM items :
EMBED_TAB_COMMAND = gladevcp -x {XID} -U --catalog=mill /usr/share/linuxcnc/aux_gladevcp/NativeCAM/ncam.ui
EMBED_TAB_NAME = NativeCAM
EMBED_TAB_LOCATION = ntb_user_tabs
EMBED_TAB_NAME= Kinematik-LED
EMBED_TAB_COMMAND= halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -u ./hitcounter.py -H ./gladevcp/kins-leds.hal -x {XID} ./gladevcp/kins-leds.ui
EMBED_TAB_LOCATION = box_cooling
EMBED_TAB_NAME= Spindle-rpm-sensor
EMBED_TAB_COMMAND= gladevcp -H ./gladevcp/spindle-sensor.hal -x {XID} ./gladevcp/spindle-sensor.ui
EMBED_TAB_LOCATION = box_custom_3
DISPLAY = gmoccapy
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/user/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 50.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyzb
[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
SUBROUTINE_PATH = ncam/my-stuff:ncam/lib/mill:ncam/lib/utilities:./remap_subs
FEATURES = 8
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
[HMOT]
# **** This is for info only ****
CARD0=hm2_7i76e.0
[HAL]
HALUI = halui
HALFILE = Deckel-FP2.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
HALCMD = net :b-rot-axis-set <= motion.digital-out-03 => mux.offset_z.sel => mux.offset_x.sel
HALCMD = net :table-x joint.0.pos-fb
HALCMD = net :saddle-y joint.1.pos-fb
HALCMD = net :spindle-z joint.2.pos-fb
HALCMD = net :tilt-b joint.3.pos-fb
HALCMD = net :tool-offset motion.tooloffset.z
HALCMD = net :tool-offset xyzbc-trt-kins.tool-offset
HALCMD = net
-offset xyzbc-trt-kins.x-offsetHALCMD = net :z-offset xyzbc-trt-kins.z-offset
#HALCMD = sets
-offset 100#HALCMD = sets :z-offset -100
[HALUI]
MDI_COMMAND = G10 L20 P0 X0 ( Set X to zero )
MDI_COMMAND = G10 L20 P0 Y0 ( Set Y to zero )
MDI_COMMAND = G10 L20 P0 Z0 ( Set Z to zero )
MDI_COMMAND = G10 L20 P0 U0 ( Set U to zero )
[KINS]
JOINTS = 6
KINEMATICS = xyzbc-trt-kins sparm=identityfirst
[TRAJ]
COORDINATES = XYZBU
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00
NO_FORCE_HOMING = 1
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#******************************************
[AXIS_X]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -0.1
MAX_LIMIT = 400.1
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 35
STEPGEN_MAXACCEL = 300
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 50000
DIRHOLD = 1000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 3000
#MIN_LIMIT = -0.1
#MAX_LIMIT = 400.1
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -25
HOME_LATCH_VEL = 1
#HOME_FINAL_VEL = 15
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#******************************************
#******************************************
[AXIS_Y]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -200.5
MAX_LIMIT = 0.01
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 35
STEPGEN_MAXACCEL = 300
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 50000
DIRHOLD = 1000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 3000
MIN_LIMIT = -200.5
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 25
HOME_LATCH_VEL = -1
#HOME_FINAL_VEL = 15
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************
#******************************************
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -270.1
MAX_LIMIT = 0.01
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 35
STEPGEN_MAXACCEL = 300
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 50000
DIRHOLD = 1000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 3000
#MIN_LIMIT = -270.5
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 25
HOME_LATCH_VEL = -1
#HOME_FINAL_VEL = 15
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#******************************************
[AXIS_A]
#MIN_LIMIT = -90
#MAX_LIMIT = 90
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 40
MAX_ACCELERATION = 400
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 49
STEPGEN_MAXACCEL = 500
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 10
#MIN_LIMIT = -90
#MAX_LIMIT = 90
#HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = 25
#HOME_LATCH_VEL = -1
#HOME_FINAL_VEL = 15
#HOME_USE_INDEX = NO
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#*********************************************************************
[AXIS_B]
MIN_LIMIT = -90
MAX_LIMIT = 90
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
[JOINT_4]
TYPE = ANGULAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 40
MAX_ACCELERATION = 400
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 49
STEPGEN_MAXACCEL = 500
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 10
MIN_LIMIT = -90
MAX_LIMIT = 90
#HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = 25
#HOME_LATCH_VEL = -1
#HOME_FINAL_VEL = 15
#HOME_USE_INDEX = NO
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
[AXIS_U]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -4000.1
MAX_LIMIT = 0.1
[JOINT_5]
TYPE = LINEAR
HOME = 0.0
FERROR = 10000.0
MIN_FERROR = 10000.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 250.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 35
STEPGEN_MAXACCEL = 350
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.1
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 50000
DIRHOLD = 1000
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 48.165
MIN_LIMIT = -4000.1
MAX_LIMIT = 0.1
#HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = -25
#HOME_LATCH_VEL = 1
#HOME_FINAL_VEL = 15
#HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#**************************************33
#********************
# Spindle
#********************
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_eth
# BOARD0=7i76e
[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = -0.01633987
OUTPUT_SCALE = 6000
OUTPUT_MIN_LIMIT = 100
OUTPUT_MAX_LIMIT = 6300
Now I got myself confused about all the different velocities and acceleration settings in the INI file.
So we have this in the DISPLAY section:
this in the TRAJ section
this in the AXIS section:
this in the JOINT section:
and this in the joint section that is actually for the hostmot2 stepgen
So my understanding is that in JOINT mode (so also for the homing process since there is no axis before the joint is homed) the settings in the JOINT section are relevant. After homing it is the AXIS section.
So then in the DISPLAY section we set the min/max values for the jog slider in the GUI and the TRAJ setting are for the motion planner.
So in order to increase the G0 velocity for the U-Axis only I should just be able to increase the settings in the U-AXIS section.
I tried that but it does not seem to make a difference. The U-AXIS still moves at about 25mm/s.
Because the machine is already in use I can't spend to much time fiddling with it. So I would like to have a somewhat clear understanding of what my approach should be.
So should I increase the TRAJ velocity and the JOINT and the AXIS for U? Should the settings in the JOINT and AXIS sections always be the same?
Thanks
Last edit: 13 Jun 2020 09:01 by Aciera.
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13 Jun 2020 09:31 #171384
by bbsr_5a
Replied by bbsr_5a on topic confused about velocity settings in the INI
it will be a error if the AXIS and Joint settings are not the same
for UW the Values are also in Machine units
and ofcause in per second
for UW the Values are also in Machine units
and ofcause in per second
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13 Jun 2020 12:33 #171419
by tommylight
Replied by tommylight on topic confused about velocity settings in the INI
Display section = limits the slider velocity in the GUI
Traj section limits overall machine velocities
Per axis/joint section limit that axis/joint
I always set the display and traj section about 25 % more than any of the axis, so when i jog X and Y together it can reach both axis/joint speeds, without clipping them. When two axis move together, the distance travelled is longer than that of each axis.
So to increase the U axis speed, the display and traj have to also be raised.
Traj section limits overall machine velocities
Per axis/joint section limit that axis/joint
I always set the display and traj section about 25 % more than any of the axis, so when i jog X and Y together it can reach both axis/joint speeds, without clipping them. When two axis move together, the distance travelled is longer than that of each axis.
So to increase the U axis speed, the display and traj have to also be raised.
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13 Jun 2020 13:18 #171435
by Mike_Eitel
Replied by Mike_Eitel on topic confused about velocity settings in the INI
In theorie you should set it to the square root of three. Ca 1.7
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13 Jun 2020 13:48 #171448
by bbsr_5a
Replied by bbsr_5a on topic confused about velocity settings in the INI
refering to his other post he managed it and got a running machine
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13 Jun 2020 14:36 - 13 Jun 2020 14:38 #171459
by Aciera
Replied by Aciera on topic confused about velocity settings in the INI
So to be able to run the u-axis at 12000mm/min I would set
TRAJ and DISPLAY settings to 12000 x 1.25 = 16000 = 266
U-AXIS and JOINT to 12000 = 200
I'll try that.
Thanks
@bbsr_5a: Not sure what you are referring to.
TRAJ and DISPLAY settings to 12000 x 1.25 = 16000 = 266
U-AXIS and JOINT to 12000 = 200
I'll try that.
Thanks
@bbsr_5a: Not sure what you are referring to.
Last edit: 13 Jun 2020 14:38 by Aciera.
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13 Jun 2020 14:38 #171460
by tommylight
Replied by tommylight on topic confused about velocity settings in the INI
Yup, that should do it.
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13 Jun 2020 21:07 #171492
by cmorley
Replied by cmorley on topic confused about velocity settings in the INI
'DISPLAY' is only for the gui setting for jogging.
Unless you need to jog the UW axis fast you don't need to change those setting.
Unless you need to jog the UW axis fast you don't need to change those setting.
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