Problems with recent upgrade to Debian Stretch
16 May 2019 11:11 #133959
by aaron
Problems with recent upgrade to Debian Stretch was created by aaron
Hi All
I have recently tried to up from wheezy to stretch and with help from the forum have managed to get the machine moving again, but it is missing steps and one axis sounds distinctly wrong when running a job (it sounds fine when jogged).
My computer skills are minimal so please bear with me, and if I am double posting forgive me twice.
I am on the 4.9.0-8-rt-686-pae kernel ?
This comes up on the axis window: Axis 2.8.0-pre1-4726-g223a27736
According to synaptic I have 1:2.8.0~pre1.4728 installed
The machine has worked well on wheezy with these configs and computer for over a year.
I have attached hal and Ini files
Any help gratefully received
I have recently tried to up from wheezy to stretch and with help from the forum have managed to get the machine moving again, but it is missing steps and one axis sounds distinctly wrong when running a job (it sounds fine when jogged).
My computer skills are minimal so please bear with me, and if I am double posting forgive me twice.
I am on the 4.9.0-8-rt-686-pae kernel ?
This comes up on the axis window: Axis 2.8.0-pre1-4726-g223a27736
According to synaptic I have 1:2.8.0~pre1.4728 installed
The machine has worked well on wheezy with these configs and computer for over a year.
I have attached hal and Ini files
Any help gratefully received
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16 May 2019 13:40 #133970
by PCW
Replied by PCW on topic Problems with recent upgrade to Debian Stretch
My guess would be that the latency is worse on the Stretch/ Preempt-RT kernel
You can find out the kernel type/version with the command:
uname -a
in a terminal window
Do you get any real time errors?
I would run the latency test to check the new OS/Kernels latency on your hardware
You can find out the kernel type/version with the command:
uname -a
in a terminal window
Do you get any real time errors?
I would run the latency test to check the new OS/Kernels latency on your hardware
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16 May 2019 17:26 #133987
by aaron
Replied by aaron on topic Problems with recent upgrade to Debian Stretch
Thanks for your reply
uname -a
Linux foam 4.9.0-8-rt-686-pae #1 SMP PREEMPT RT Debian 4.9.144-3.1 (2019-02-19) i686 GNU/Linux
You are right the latency has almost doubled. How do I plug the results into the configuration files. I don't see how I can run stepconfig wizard again as I have two motors running one axis.
If the resulting speed is bad can I use a different kernel, or just buy another computer with better latency. What are my options?
Cheers
uname -a
Linux foam 4.9.0-8-rt-686-pae #1 SMP PREEMPT RT Debian 4.9.144-3.1 (2019-02-19) i686 GNU/Linux
You are right the latency has almost doubled. How do I plug the results into the configuration files. I don't see how I can run stepconfig wizard again as I have two motors running one axis.
If the resulting speed is bad can I use a different kernel, or just buy another computer with better latency. What are my options?
Cheers
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16 May 2019 17:33 #133988
by PCW
Replied by PCW on topic Problems with recent upgrade to Debian Stretch
You can increase the base thread period in your .ini file (currently 66666)
but this will likely result in lower maximum speeds
I dont think there are any better kernel options for Stretch.
Are you sure you have turned off all power saving options in your BIOS?
You might also try setting the isolcpus option in grub if you have a multicore CPU
What current PC hardware do you have?
but this will likely result in lower maximum speeds
I dont think there are any better kernel options for Stretch.
Are you sure you have turned off all power saving options in your BIOS?
You might also try setting the isolcpus option in grub if you have a multicore CPU
What current PC hardware do you have?
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16 May 2019 21:30 #134010
by InMyDarkestHour
Replied by InMyDarkestHour on topic Problems with recent upgrade to Debian Stretch
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
Is this correct ?
setp stepgen.0.stepspace 0
Is this correct ?
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16 May 2019 23:05 #134017
by Grotius
Replied by Grotius on topic Problems with recent upgrade to Debian Stretch
@Aaron,
I don't know if the step conf wizard has the option for double motor's on one axis already. But if not you can set it manually with
some help.
How do I plug the results into the configuration files. I don't see how I can run stepconfig wizard again as I have two motors running one axis.
For your ini setup a short example of double motors on one axis :
Your hal file for double motors on one axis in my case...
So if you edit the basic ini and basic hal file, it would work for you. This is just for info.
Edit your files to your reeds.
I don't know if the step conf wizard has the option for double motor's on one axis already. But if not you can set it manually with
some help.
How do I plug the results into the configuration files. I don't see how I can run stepconfig wizard again as I have two motors running one axis.
For your ini setup a short example of double motors on one axis :
Warning: Spoiler!
[TRAJ]
AXES = 5
COORDINATES = X X Y Z A
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 5.00
[KINS]
JOINTS = 5
KINEMATICS = trivkins coordinates=XXYZA
## Calculation ##
# drive : 10000 steps / rev
# pitch : 37.69 mm / rev
# calcutation : 10000 / 37.69 = 265.3
# scale = 265.3
## Calculation ##
# drive : 5000 steps / rev
# pitch : 37.69 mm / rev
# calcutation : 5000 / 37.69 = 265.3
# scale = 132.6612
[AXIS_X]
MIN_LIMIT = -10000
MAX_LIMIT = 6560
MAX_VELOCITY = 125
MAX_ACCELERATION = 325
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 125
MAX_ACCELERATION = 325
STEPGEN_MAXACCEL = 750
SCALE = -132.6612
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10000
MAX_LIMIT = 6560
HOME_LATCH_VEL = -1
HOME_SEARCH_VEL = -20
HOME_FINAL_VEL = -1
HOME_IGNORE_LIMITS = YES
HOME_OFFSET = -5
HOME_SEQUENCE = 0
#HOME_LATCH_VEL = 0
#HOME_SEARCH_VEL = 0
#HOME_FINAL_VEL = 0
#HOME_IGNORE_LIMITS = YES
#HOME_OFFSET = 0
#HOME_SEQUENCE = 0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 125
MAX_ACCELERATION = 325
STEPGEN_MAXACCEL = 750
SCALE = -132.6612
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10000
MAX_LIMIT = 6560
HOME_LATCH_VEL = -1
HOME_SEARCH_VEL = -20
HOME_FINAL_VEL = -1
HOME_IGNORE_LIMITS = YES
HOME_OFFSET = -5
HOME_SEQUENCE = 0
#HOME_LATCH_VEL = 0
#HOME_SEARCH_VEL = 0
#HOME_FINAL_VEL = 0
#HOME_IGNORE_LIMITS = YES
#HOME_OFFSET = 0
#HOME_SEQUENCE = 0Your hal file for double motors on one axis in my case...
Warning: Spoiler!
# Generated by stepconf 1.1 at Fri Mar 9 14:37:43 2018
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf [LCEC]CONFIG
loadrt lcec
net ec-slaves-responding <= lcec.slaves-responding
net ec-link-up <= lcec.link-up
net ec-all-op <= lcec.all-op
addf lcec.read-all base-thread
addf lcec.write-all base-thread
loadrt stepgen step_type=0,0,0,0,0
loadrt pwmgen output_type=1
addf stepgen.make-pulses base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-cmd-rps <= motion.spindle-speed-out-rps
net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-at-speed => motion.spindle-at-speed
net spindle-cw <= motion.spindle-forward
net x1step => lcec.0.output_step.dout-0
net x1dir => lcec.0.output_dir.dout-0
net x2step => lcec.0.output_step.dout-1
net x2dir => lcec.0.output_dir.dout-1
net ystep => lcec.0.output_step.dout-2
net ydir => lcec.0.output_dir.dout-2
net zstep => lcec.0.output_step.dout-3
net zdir => lcec.0.output_dir.dout-3
net both-home-x1 <= lcec.0.digital_input.din-2
net both-home-x2 <= lcec.0.digital_input.din-3
# X-AXIS #######################################################
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net x1pos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net x1pos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net x1step <= stepgen.0.step
net x1dir <= stepgen.0.dir
net x1enable joint.0.amp-enable-out => stepgen.0.enable
net both-home-x1 => joint.0.home-sw-in
#net both-home-x1 => joint.0.neg-lim-sw-in
#net both-home-x1 => joint.0.pos-lim-sw-in
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net x2pos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net x2pos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net x2step <= stepgen.1.step
net x2dir <= stepgen.1.dir
net x2enable joint.1.amp-enable-out => stepgen.1.enable
net both-home-x2 => joint.1.home-sw-in
#net both-home-x2 => joint.1.neg-lim-sw-in
#net both-home-x2 => joint.1.pos-lim-sw-inSo if you edit the basic ini and basic hal file, it would work for you. This is just for info.
Edit your files to your reeds.
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17 May 2019 02:11 #134023
by PCW
Yes its correct _if_ you are using the stepgen components "reset" mode where the steplength
is determined by the reset time, not the steplength setting
Replied by PCW on topic Problems with recent upgrade to Debian Stretch
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
Is this correct ?
Yes its correct _if_ you are using the stepgen components "reset" mode where the steplength
is determined by the reset time, not the steplength setting
The following user(s) said Thank You: InMyDarkestHour
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17 May 2019 02:54 #134024
by InMyDarkestHour
setp parport.0.reset-time 1500
So by the ini file the steplength would be 1500ns
And step the min stepspace would be determined by the base thread ?
Would increasing the reset time be of any value (thereby increasing step length?) ?
This is purely an academic question.
Replied by InMyDarkestHour on topic Problems with recent upgrade to Debian Stretch
@myself RFTM
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
Is this correct ?
Yes its correct _if_ you are using the stepgen components "reset" mode where the steplength
is determined by the reset time, not the steplength setting
setp parport.0.reset-time 1500
So by the ini file the steplength would be 1500ns
And step the min stepspace would be determined by the base thread ?
Would increasing the reset time be of any value (thereby increasing step length?) ?
This is purely an academic question.
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17 May 2019 09:05 #134036
by aaron
Replied by aaron on topic Problems with recent upgrade to Debian Stretch
Currently, the pc I am using is an old Dell Optiplex 755. I will look into changing settings in the bios. But in the mean time are there any cheap reasonably powerful alternatives with good latenocy for this kernel?
Thanks
Thanks
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17 May 2019 14:30 #134050
by PCW
Replied by PCW on topic Problems with recent upgrade to Debian Stretch
Dont know where you are located but HP Elite 8300 SFFs have good latency and
are in the 70 to 100 dollar range on Ebay including memory and hard drive or small SSD
are in the 70 to 100 dollar range on Ebay including memory and hard drive or small SSD
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