5i25 + 7i85s +....
- Todd Zuercher
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02 Jan 2017 02:51 #85056
by Todd Zuercher
Replied by Todd Zuercher on topic 5i25 + 7i85s +....
Not knowing what you are doing, I'm not sure why you would want to avoid G64. It is an incredibly useful tool especially when used with the Pxx deviation limit parameter.
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02 Jan 2017 15:08 - 02 Jan 2017 15:09 #85073
by Emanresu
Replied by Emanresu on topic 5i25 + 7i85s +....
I belive G64 may become handy in many situation.
But im doing alot of custom mode items. So i dont wona have to think about every "tweak" each startup.
Especially previously/accidently set G parameters are able to destroy a 1.000$ Part in Seconds.
About the Encoder as DRO.
So if i wish, to "show" the encoder only i have to do something like this?
Because i noticed, beside PID, Axis also looks for "joint-errors" somehow.
But im doing alot of custom mode items. So i dont wona have to think about every "tweak" each startup.
Especially previously/accidently set G parameters are able to destroy a 1.000$ Part in Seconds.
About the Encoder as DRO.
So if i wish, to "show" the encoder only i have to do something like this?
net x-pos-fb-enc <= hm2_5i25.0.encoder.00.position
net x-pos-fb-enc => axis.0.motor-pos-fb
net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
net x-pos-fb => pid.x.feedbackBecause i noticed, beside PID, Axis also looks for "joint-errors" somehow.
Last edit: 02 Jan 2017 15:09 by Emanresu.
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02 Jan 2017 15:33 #85078
by Emanresu
Replied by Emanresu on topic 5i25 + 7i85s +....
Hm,..
Im running into a Problem somehow.
Up to 2m/min everything is fine.
Above 2m/min i run into joint following error at the "Down-Ramp"
Up-Ramp and Movement up to 30m/min everything is just fine.
But as soon as i lift my Finger from the Arrow-key... GANG, fullstop.
Im running into a Problem somehow.
Up to 2m/min everything is fine.
Above 2m/min i run into joint following error at the "Down-Ramp"
Up-Ramp and Movement up to 30m/min everything is just fine.
But as soon as i lift my Finger from the Arrow-key... GANG, fullstop.
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02 Jan 2017 15:34 #85079
by andypugh
Replied by andypugh on topic 5i25 + 7i85s +....
If you want to only have the DRO you can set the f-error in the INI to greater than the machine travel, and then the following-error will never trip.
(This is assuming that having an alternative config only for manual use is acceptable)
Note that you can have two configs in the same directory sharing all the HAL and tool table files etc. Just make a copy of the INI with a new name, and call it something like "manual_dro.ini"
This INI file would probably want to exclude some of the HAL files that enable motion, or potentially contain a reference to an extra HAL file loaded last that disconnects / disables things.
(This is assuming that having an alternative config only for manual use is acceptable)
Note that you can have two configs in the same directory sharing all the HAL and tool table files etc. Just make a copy of the INI with a new name, and call it something like "manual_dro.ini"
This INI file would probably want to exclude some of the HAL files that enable motion, or potentially contain a reference to an extra HAL file loaded last that disconnects / disables things.
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02 Jan 2017 15:43 - 02 Jan 2017 15:43 #85081
by andypugh
This might be because the drives are not actually capable of braking fast enough.
But, it can also be caused by not setting a DEFAULT_LINEAR_ACCELERATION in the [TRAJ] section of the INI. So try that first.
linuxcnc.org/docs/devel/html/config/ini-...g.html#_traj_section
Replied by andypugh on topic 5i25 + 7i85s +....
Above 2m/min i run into joint following error at the "Down-Ramp"
Up-Ramp and Movement up to 30m/min everything is just fine.
But as soon as i lift my Finger from the Arrow-key... GANG, fullstop.
This might be because the drives are not actually capable of braking fast enough.
But, it can also be caused by not setting a DEFAULT_LINEAR_ACCELERATION in the [TRAJ] section of the INI. So try that first.
linuxcnc.org/docs/devel/html/config/ini-...g.html#_traj_section
Last edit: 02 Jan 2017 15:43 by andypugh.
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02 Jan 2017 17:07 #85091
by Emanresu
Replied by Emanresu on topic 5i25 + 7i85s +....
So i guess there is no other input PIN for axis then axis.0.motor-pos-fb.
Some Kind of "just look, dont use" PIN.
Here we go: No DEFAULT_LINEAR_ACCELERATION
I just dont understand why ACCeleration works and DECeleration leads into an error.
I use Leadshine EL5-1500. They have an integrated oscilloscope.
At an Acceleration of 100 ive just 0,008 missmatch. And at 500 like i set in Linux just 0,002.
Schould be ok tho. (2500 line encoder. So it wont be more precise then 0,002 anyway)
Some Kind of "just look, dont use" PIN.
Here we go: No DEFAULT_LINEAR_ACCELERATION
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 8.00
MAX_LINEAR_VELOCITY = 500I just dont understand why ACCeleration works and DECeleration leads into an error.
I use Leadshine EL5-1500. They have an integrated oscilloscope.
At an Acceleration of 100 ive just 0,008 missmatch. And at 500 like i set in Linux just 0,002.
Schould be ok tho. (2500 line encoder. So it wont be more precise then 0,002 anyway)
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02 Jan 2017 17:23 #85094
by andypugh
Replied by andypugh on topic 5i25 + 7i85s +....
Does adding the DEFAULT_LINEAR_ACCELERATION fix the problem?
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02 Jan 2017 17:33 #85096
by Emanresu
Replied by Emanresu on topic 5i25 + 7i85s +....
Nope, still the same.
I also wonder how TRAJ works together with AXIS.
For example changing MAX_LINEAR_VELOCITY in TRAJ seems to affect nothing.
I also wonder how TRAJ works together with AXIS.
For example changing MAX_LINEAR_VELOCITY in TRAJ seems to affect nothing.
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02 Jan 2017 17:35 #85097
by PCW
Replied by PCW on topic 5i25 + 7i85s +....
Are you using encoder feedback to close the position loop?
If so, loop tuning will be quite different than the local stepgen tuning
If so, loop tuning will be quite different than the local stepgen tuning
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02 Jan 2017 17:37 #85098
by andypugh
Replied by andypugh on topic 5i25 + 7i85s +....
The [TRAJ] settings only really have much effect with non-identity kinematics (which can include gantries, sometimes).
Is your stepgen_maxaccel bigger than the joint accel limit? (it needs to be, to give a bit of headroom)
Is LinuxCNC using the encoder or a step-generator to drive joint.N.motor-pos-fb ?
Is your stepgen_maxaccel bigger than the joint accel limit? (it needs to be, to give a bit of headroom)
Is LinuxCNC using the encoder or a step-generator to drive joint.N.motor-pos-fb ?
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