5i25 + 7i85s +....

PCW
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9 years 10 months ago #84941 by PCW

Replied by PCW on topic 5i25 + 7i85s +....

1600 steps = 16mm motion so
100 steps = 1mm motion
so the scale is 100 (steps per mm)

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Emanresu
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9 years 10 months ago #84942 by Emanresu

Replied by Emanresu on topic 5i25 + 7i85s +....

Yep, so we both are better in calculating then my PC

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Emanresu
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9 years 10 months ago #84961 by Emanresu

Replied by Emanresu on topic 5i25 + 7i85s +....

Todd Zuercher was also right...
After a while of hand editing, it is almost more comfortable than pncconf.

Is it possible, that Linux CNC cant operate above 6000mm/min?
It doesnt matter, what my Stepscale is. Above 6000mm/min ill get a "joint 0 following error".

-> 500stp/mm * 6.000mm/min = 3.000.000stp/min -> 50Khz -> Error at about 6200mm/min
-> 100stp/mm * 6.000mm/min = 600.000stp/min -> 10Khz -> Error at about 6200mm/min

Open loop so far. No encoder.

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PCW
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9 years 10 months ago - 9 years 10 months ago #84963 by PCW

Replied by PCW on topic 5i25 + 7i85s +....

No, Linuxcnc has no important speed limitations

(I have a test config that does about 3 million mm/m = ~90 MPH and 10 MHz step rates)

If you get a following error, its probably a hal/ini file problem of some kind

If you post you hal and ini files I can probably see what's wrong

Last edit: 9 years 10 months ago by PCW.

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Emanresu
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9 years 10 months ago #84971 by Emanresu

Replied by Emanresu on topic 5i25 + 7i85s +....

(I have a test config that does about 3 million mm/m = ~90 MPH and 10 MHz step rates)

I didnt know LinuxCNC is also used for Bullriding O.o

Sadly as a usual Windows user im accustomed to input fields, buttons and little popup infoboxes.

But after the last days i have to say, its amazing to work "the Linux way"!
All my respekt to you guys for creating an Software Package like this!
I just love the endless possibilitys!

And i figured my problem out. (*proud*)

PID MAX_OUTPUT was set to 100

Here is my HAL anyway. Im interested in your opinion about my segmentation.
For some reason i just realized how HAL works while i created my own order.

Warning: Spoiler!

Code:

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=4 num_pwmgens=1 num_stepgens=4 sserial_port_0=00xxxx" 

setp    hm2_5i25.0.pwmgen.pwm_frequency 20000
setp    hm2_5i25.0.pwmgen.pdm_frequency 6000000
setp    hm2_5i25.0.watchdog.timeout_ns 5000000

loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf hm2_5i25.0.read          servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.y.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf hm2_5i25.0.write         servo-thread



#****************************************************************************
# SPS
#****************************************************************************

#net amp-enable        <=  axis.0.amp-enable-out
#net amp-enable        =>  parport.0.pin-16-out



#****************************************************************************
#  AXIS X
#****************************************************************************

#~~~~~~~~~~~~~~~~~~~
# PID Parameter 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
setp   pid.x.error-previous-target true
setp   pid.x.maxerror .0005

#~~~~~~~~~~~~~~~~~~~
# MESA Parameter X
#~~~~~~~~~~~~~~~~~~~

setp   hm2_5i25.0.stepgen.00.dirsetup        [AXIS_0]DIRSETUP
setp   hm2_5i25.0.stepgen.00.dirhold         [AXIS_0]DIRHOLD
setp   hm2_5i25.0.stepgen.00.steplen         [AXIS_0]STEPLEN
setp   hm2_5i25.0.stepgen.00.stepspace       [AXIS_0]STEPSPACE
setp   hm2_5i25.0.stepgen.00.position-scale  [AXIS_0]STEP_SCALE
setp   hm2_5i25.0.stepgen.00.step_type        0
setp   hm2_5i25.0.stepgen.00.control-type     1
setp   hm2_5i25.0.stepgen.00.maxaccel        [AXIS_0]STEPGEN_MAXACCEL
setp   hm2_5i25.0.stepgen.00.maxvel          [AXIS_0]STEPGEN_MAXVEL

#~~~~~~~~~~~~~~~~~~~
# Signals X
#~~~~~~~~~~~~~~~~~~~

net x-enable          <=  axis.0.amp-enable-out
net x-enable          =>  hm2_5i25.0.stepgen.00.enable
net x-enable          =>  pid.x.enable

net x-pos-cmd         <=  axis.0.motor-pos-cmd
net x-pos-cmd         =>  pid.x.command 
               
net x-vel-cmd         <=  axis.0.joint-vel-cmd
net x-vel-cmd         =>  pid.x.command-deriv 

net x-output          <=  pid.x.output
net x-output          =>  hm2_5i25.0.stepgen.00.velocity-cmd

net x-pos-fb          <=  hm2_5i25.0.stepgen.00.position-fb
net x-pos-fb          =>  pid.x.feedback
net x-pos-fb          =>  axis.0.motor-pos-fb

#net x-vel-fb         <=  hm2_5i25.0.encoder.00.velocity
#net x-vel-fb         =>  pid.x.feedback-deriv                   


net x-index-enable  <=> pid.x.index-enable
#net x-index-enable    axis.0.index-enable  <=>  hm2_5i25.0.encoder.00.index-enable

#~~~~~~~~~~~~~~~~~~~
# Limit Switch X
#~~~~~~~~~~~~~~~~~~~

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 Y
#****************************************************************************


#****************************************************************************
#  AXIS Z
#****************************************************************************


#****************************************************************************
#  SPINDLE S
#****************************************************************************

setp   pid.s.Pgain     [SPINDLE_9]P
setp   pid.s.Igain     [SPINDLE_9]I
setp   pid.s.Dgain     [SPINDLE_9]D
setp   pid.s.bias      [SPINDLE_9]BIAS
setp   pid.s.FF0       [SPINDLE_9]FF0
setp   pid.s.FF1       [SPINDLE_9]FF1
setp   pid.s.FF2       [SPINDLE_9]FF2
setp   pid.s.deadband  [SPINDLE_9]DEADBAND
setp   pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp   pid.s.error-previous-target true
setp   pid.s.maxerror .0005

net spindle-index-enable  <=> pid.s.index-enable
net spindle-enable        =>  pid.s.enable
net spindle-vel-cmd-rpm     => pid.s.command
net spindle-vel-fb-rpm      => pid.s.feedback
net spindle-output        <=  pid.s.output

# ---setup spindle control signals---

net spindle-vel-cmd-rps        <=  motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs    <=  motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm        <=  motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs    <=  motion.spindle-speed-out-abs
net spindle-enable             <=  motion.spindle-on
net spindle-cw                 <=  motion.spindle-forward
net spindle-ccw                <=  motion.spindle-reverse
net spindle-brake              <=  motion.spindle-brake
net spindle-revs               =>  motion.spindle-revs
net spindle-at-speed           =>  motion.spindle-at-speed
net spindle-vel-fb-rps         =>  motion.spindle-speed-in
net spindle-index-enable      <=>  motion.spindle-index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true


#******************************
# connect miscellaneous signals
#******************************

#  ---HALUI signals---

net joint-select-a        halui.joint.0.select
net x-is-homed            halui.joint.0.is-homed
net jog-x-pos             halui.jog.0.plus
net jog-x-neg             halui.jog.0.minus
net jog-x-analog          halui.jog.0.analog
net joint-select-b        halui.joint.1.select
net y-is-homed            halui.joint.1.is-homed
net jog-y-pos             halui.jog.1.plus
net jog-y-neg             halui.jog.1.minus
net jog-y-analog          halui.jog.1.analog
net joint-select-c        halui.joint.2.select
net z-is-homed            halui.joint.2.is-homed
net jog-z-pos             halui.jog.2.plus
net jog-z-neg             halui.jog.2.minus
net jog-z-analog          halui.jog.2.analog
net jog-selected-pos      halui.jog.selected.plus
net jog-selected-neg      halui.jog.selected.minus
net spindle-manual-cw     halui.spindle.forward
net spindle-manual-ccw    halui.spindle.reverse
net spindle-manual-stop   halui.spindle.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.jog-speed 
net MDI-mode              halui.mode.is-mdi

#  ---coolant signals---

net coolant-mist      <=  iocontrol.0.coolant-mist
net coolant-flood     <=  iocontrol.0.coolant-flood

#  ---probe signal---

net probe-in     =>  motion.probe-input

#  ---motion control signals---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---digital in / out signals---

#  ---estop signals---

net estop-out     <=  iocontrol.0.user-enable-out
net estop-out     =>  iocontrol.0.emc-enable-in

#  ---manual tool change signals---

loadusr -W hal_manualtoolchange
net tool-change-request     iocontrol.0.tool-change       =>  hal_manualtoolchange.change
net tool-change-confirmed   iocontrol.0.tool-changed      <=  hal_manualtoolchange.changed
net tool-number             iocontrol.0.tool-prep-number  =>  hal_manualtoolchange.number
net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared

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andypugh
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9 years 10 months ago #84972 by andypugh

Replied by andypugh on topic 5i25 + 7i85s +....

Glad you sorted it out.
And any file layout that works and makes sense to you is OK, they are your files, after all :-)

(and yours are a lot neater than mine)

The following user(s) said Thank You: Emanresu

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