Boxford 125 lathe Tool Changer Comp FERROR (SOLVED)

Aciera
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03 Nov 2020 14:22 - 03 Nov 2020 14:22 #188226 by Aciera

Replied by Aciera on topic Boxford 125 lathe Tool Changer Comp FERROR

In your INI. You need to change this

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XZA

to this

[KINS]
JOINTS = 2
KINEMATICS = trivkins coordinates=XZ

Last edit: 03 Nov 2020 14:22 by Aciera.

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Clive S
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03 Nov 2020 15:22 - 03 Nov 2020 15:29 #188236 by Clive S

Replied by Clive S on topic Boxford 125 lathe Tool Changer Comp FERROR

Aciera wrote:
In your INI. You need to change this
[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XZA
to this
[KINS]
JOINTS = 2
KINEMATICS = trivkins coordinates=XZ

Stupid me. I thought I had done that but edited the wrong ini file (bet you have never done that) :woohoo:

Now it works. How do I alter the velocity i.e. the equivalent of:

MAX_VELOCITY = 1 would this work setp stepgen.2.max_velocity 3
MAX_ACCELERATION = 5 setp stepgen.max_acceleration 5

Edit: Is this the correct place to reverse a bit more param rw float fudge_factor = 1 could I change that to 2.5?

Last edit: 03 Nov 2020 15:29 by Clive S.

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Aciera
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03 Nov 2020 15:27 - 03 Nov 2020 15:33 #188237 by Aciera

Replied by Aciera on topic Boxford 125 lathe Tool Changer Comp FERROR

MAX_VELOCITY = 1 would this work setp stepgen.2.max_velocity 3
MAX_ACCELERATION = 5 setp stepgen.max_acceleration 5

I would think so. Try and report back.

edited the wrong ini file (bet you have never done that)

NEVER

Last edit: 03 Nov 2020 15:33 by Aciera.

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Clive S
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03 Nov 2020 15:30 #188238 by Clive S

Replied by Clive S on topic Boxford 125 lathe Tool Changer Comp FERROR

Aciera wrote:

MAX_VELOCITY = 1 would this work setp stepgen.2.max_velocity 3
MAX_ACCELERATION = 5 setp stepgen.max_acceleration 5

I would think so. Try and report back.

I will thanks

Is this the correct place to reverse a bit more param rw float fudge_factor = 1 could I change that to 2.5?

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Aciera
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03 Nov 2020 15:36 #188239 by Aciera

Replied by Aciera on topic Boxford 125 lathe Tool Changer Comp FERROR

param rw float fudge_factor = 1 could I change that to 2.5?

Sure, give it a try.

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Clive S
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03 Nov 2020 15:55 #188240 by Clive S

Replied by Clive S on topic Boxford 125 lathe Tool Changer Comp FERROR

Aciera wrote:

param rw float fudge_factor = 1 could I change that to 2.5?

Sure, give it a try.

This worked
setp stepgen.2.maxaccel 50
setp stepgen.2.maxvel 20

I will try the fudge later (I am getting a bit cold)

Thanks

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Clive S
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03 Nov 2020 18:30 #188248 by Clive S

Replied by Clive S on topic Boxford 125 lathe Tool Changer Comp FERROR

Clive wrote:

Aciera wrote:

param rw float fudge_factor = 1 could I change that to 2.5?

Sure, give it a try.

This worked
setp stepgen.2.maxaccel 50
setp stepgen.2.maxvel 20

I will try the fudge later (I am getting a bit cold)

Thanks

Quick question I have noticed using the comp as it is now when it dose a tool move going forward then stops there is a small delay in the reverse move like 0.5sec. It did not do that when we used the A axis. Any clues?

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Aciera
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04 Nov 2020 06:37 - 04 Nov 2020 07:24 #188291 by Aciera

Replied by Aciera on topic Boxford 125 lathe Tool Changer Comp FERROR

So it does the forward move, then stops for about 0.5s, then does the backwards locking move?
~~Or does it do the forward move then starts to go backward, stops for about 0.5s and then finishes the backward move?~~

[edit]

Ok now that I changed the maxaccel and maxvel for the stepgen I can see the problem in my simulated system as well.

Because the system has no feedback it just waits "long enough" for the forward move to finish before starting the backward locking move. Because you now sped things up by changing acceleration and velocity the forward move does not take as long as before so now there is some dead time where it doesn't move before going backwards.
The handle for this is the factor in (delay * 100). Don't let the comment (//Forward move) confuse you. Its actually the backward move.

Try maybe (delay_index < (delay * 75)) ) and recompile :

case 1: // Forward move
                if(position_cmd < position_req)  // have we got there yet?
                    {
                    break;
                    }
                if(!fjog  && (delay_index < (delay * 100)) )  // this figure depends upon the speed of the servo thread etc
                    delay_index++;

Really it should just wait for the stepgen to reach the commanded position then it would be independent of set acceleration and velocity.

Last edit: 04 Nov 2020 07:24 by Aciera.

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Clive S
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04 Nov 2020 07:23 #188292 by Clive S

Replied by Clive S on topic Boxford 125 lathe Tool Changer Comp FERROR

Aciera wrote:
So it does the forward move, then stops for about 0.5s, then does the backwards locking move?
Or does it do the forward move then starts to go backward, stops for about 0.5s and then finishes the backward move?

]So it does the forward move, then stops for about 0.5s, then does the backwards locking move? Yes

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Aciera
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04 Nov 2020 07:25 #188293 by Aciera

Replied by Aciera on topic Boxford 125 lathe Tool Changer Comp FERROR

See edit in my last post.

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