Following error - Rotary Axis
07 May 2022 21:39 - 07 May 2022 21:40 #242268
by Slaybaw
Following error - Rotary Axis was created by Slaybaw
I'm getting a following error on Joint 4 (A Axis) when running the following section of gcode on my fixed gantry machine + rotary axis.
I've read through myriad of threads and I can't figure out how to fix it! Any help would be greatly appreciated.
INI and HAL files attached.
Gcode:
I get a following error on the line that starts with G1 A-720.
I've read through myriad of threads and I can't figure out how to fix it! Any help would be greatly appreciated.
INI and HAL files attached.
Gcode:
I get a following error on the line that starts with G1 A-720.
G93
G1 A0.00 F21.8
G1 Z13.37 A-29.65 F345.1
G1 Z12.50 A-70.17 F234.8
G1 Z11.00 A0.00 F135.6
G1 A-360.00 F26.4
G1 Z10.43 A-393.88 F384.3
G1 Z10.00 A-419.54 F472.0
G1 Z9.00 A-360.00 F203.4
G1 A-720.00 F33.6
G0 Z29.04
G94
Last edit: 07 May 2022 21:40 by Slaybaw.
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08 May 2022 01:47 #242284
by Slaybaw
Replied by Slaybaw on topic Following error - Rotary Axis
Few more details that may be important - this is a machine with open loop steppers...from other threads I've read...2 things cause following error message:
1) Stepgen velocity and stepgen accel not having enough "headroom" over the axis valuse
2) The base thread rate not actually being able to make all the requested pulses.
But I think I'm good on this front? My Base_Thread = 50000ns, which should allow for 10000 steps/sec....well above what my ini files specify.
1) Stepgen velocity and stepgen accel not having enough "headroom" over the axis valuse
2) The base thread rate not actually being able to make all the requested pulses.
But I think I'm good on this front? My Base_Thread = 50000ns, which should allow for 10000 steps/sec....well above what my ini files specify.
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08 May 2022 14:28 #242303
by PCW
Replied by PCW on topic Following error - Rotary Axis
You should not have a base thread at all with a Mesa configuration...
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08 May 2022 18:49 - 08 May 2022 19:44 #242316
by Slaybaw
Replied by Slaybaw on topic Following error - Rotary Axis
Right - yep, agree. After doing some pretty good searching over the last couple days, I found that BASE_PERIOD does nothing on Mesa configs. If you look at the HAL config, nothing is tied to the base thread anyway, so I don't think it had any effect.
Anyway, I remove the BASE_PERIOD from the .ini today, and tried again, and I still get a following error on Joint 4 at the same place in the G-code file.
Anything else I can try and scope to try and figure this out? Do my FERROR and MIN_FERROR values look good in the .ini? I can't even figure out where those values play in as I can't find those params referenced in the HAL file.
Updated INI and HAL files attached.
This is what halscope shows right when the following error occurs:
Anyway, I remove the BASE_PERIOD from the .ini today, and tried again, and I still get a following error on Joint 4 at the same place in the G-code file.
Anything else I can try and scope to try and figure this out? Do my FERROR and MIN_FERROR values look good in the .ini? I can't even figure out where those values play in as I can't find those params referenced in the HAL file.
Updated INI and HAL files attached.
This is what halscope shows right when the following error occurs:
Last edit: 08 May 2022 19:44 by Slaybaw. Reason: Add'l clarity added.
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09 May 2022 19:07 #242403
by Slaybaw
Replied by Slaybaw on topic Following error - Rotary Axis
Attachments:
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09 May 2022 19:22 - 09 May 2022 19:23 #242405
by PCW
Replied by PCW on topic Following error - Rotary Axis
The original values in the ini file should be OK
(stepgen velocity and accel values are 25% > than
the joint/axis limits)
Can you plot the joint velocity along with the following
error (with the original ini file values) to see
what's gone wrong?
(stepgen velocity and accel values are 25% > than
the joint/axis limits)
Can you plot the joint velocity along with the following
error (with the original ini file values) to see
what's gone wrong?
Last edit: 09 May 2022 19:23 by PCW.
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09 May 2022 19:39 #242406
by Slaybaw
Replied by Slaybaw on topic Following error - Rotary Axis
Thanks for the note - I am interested in troubleshooting more just to learn more...
I'll do some more testing this evening and report back.
I'll do some more testing this evening and report back.
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10 May 2022 01:04 #242446
by Slaybaw
Replied by Slaybaw on topic Following error - Rotary Axis
Attachments:
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10 May 2022 01:12 - 10 May 2022 01:12 #242447
by Slaybaw
Replied by Slaybaw on topic Following error - Rotary Axis
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Last edit: 10 May 2022 01:12 by Slaybaw.
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10 May 2022 01:56 - 10 May 2022 02:00 #242453
by PCW
Replied by PCW on topic Following error - Rotary Axis
If you look at the slope of the velocity,
the acceleration on the fast velocity downslope
exceeds 1500 deg/s^2, causing the increasing
following error because the stepgen is not allowed
to accelerate beyond 1500 deg/s^2.
So this seems like a trajectory planner or ini setup issue.
the acceleration on the fast velocity downslope
exceeds 1500 deg/s^2, causing the increasing
following error because the stepgen is not allowed
to accelerate beyond 1500 deg/s^2.
So this seems like a trajectory planner or ini setup issue.
Last edit: 10 May 2022 02:00 by PCW.
The following user(s) said Thank You: Slaybaw
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