Z homed DRO red !

dinkata
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9 years 7 months ago #89508 by dinkata

Replied by dinkata on topic Z homed DRO red !

ini :

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

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newbynobi
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9 years 7 months ago #89554 by newbynobi

Replied by newbynobi on topic Z homed DRO red !

I am on my fone, but without looking in your config i do know, you are using a corrupt config.

A lathe is a identity kinematics, so you need 3 joints, X being joint 0 and Z being joint 2.
Joint 1 is unused and does not need to be in your ini file.

Change joints to 3 and rename your joint 1 to joint 2.
After that the dro problem should be gone.

Norbert

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dinkata
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9 years 7 months ago - 9 years 7 months ago #89569 by dinkata

Replied by dinkata on topic Z homed DRO red !

Hello Norbert , thanks for the reply !

Change joints to 3 and rename your joint 1 to joint 2.

I did this,but there is another problem .This is config real machine :
ini:

Warning: Spoiler!

hal

Warning: Spoiler!

#*******************
# JOINT X
#*******************

setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true

net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output

# ---PWM Generator signals/setup---

setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [JOINT_0]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout0-minlim [JOINT_0]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [JOINT_0]OUTPUT_MAX_LIMIT

net x-output => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-cmd joint.0.motor-pos-cmd
net x-enable joint.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable hm2_5i25.0.7i77.0.1.analogena

# ---Encoder feedback signals/setup---

setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale [JOINT_0]ENCODER_SCALE

net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts

# ---setup home / limit switch signals---

net home-x => joint.0.home-sw-in
net both-x => joint.0.neg-lim-sw-in
net both-x => joint.0.pos-lim-sw-in

#*******************
# JOINT Z
#*******************

setp pid.z.Pgain [JOINT_2]P
setp pid.z.Igain [JOINT_2]I
setp pid.z.Dgain [JOINT_2]D
setp pid.z.bias [JOINT_2]BIAS
setp pid.z.FF0 [JOINT_2]FF0
setp pid.z.FF1 [JOINT_2]FF1
setp pid.z.FF2 [JOINT_2]FF2
setp pid.z.deadband [JOINT_2]DEADBAND
setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.z.error-previous-target true

net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output

# ---PWM Generator signals/setup---

setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [JOINT_2]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout1-minlim [JOINT_2]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [JOINT_2]OUTPUT_MAX_LIMIT

net z-output => hm2_5i25.0.7i77.0.1.analogout1
net z-pos-cmd joint.2.motor-pos-cmd
net z-enable joint.2.amp-enable-out

# ---Encoder feedback signals/setup---

setp hm2_5i25.0.encoder.01.counter-mode 0
setp hm2_5i25.0.encoder.01.filter 1
setp hm2_5i25.0.encoder.01.index-invert 0
setp hm2_5i25.0.encoder.01.index-mask 0
setp hm2_5i25.0.encoder.01.index-mask-invert 0
setp hm2_5i25.0.encoder.01.scale [JOINT_2]ENCODER_SCALE

net z-pos-fb <= hm2_5i25.0.encoder.01.position
net z-vel-fb <= hm2_5i25.0.encoder.01.velocity
net z-pos-fb => joint.2.motor-pos-fb
net z-index-enable joint.2.index-enable <=> hm2_5i25.0.encoder.01.index-enable
net z-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts

# ---setup home / limit switch signals---

net home-z => joint.2.home-sw-in
net min-z => joint.2.neg-lim-sw-in
net max-z => joint.2.pos-lim-sw-in

In this configuration, when pressed the button -X or +X normal move
but when pressed the button -Z or +Z joint.2.vel-cmd =0 joint.1.vel-cmd = 3
[ jog speed = 180mm/min ( and another problem show sometimes inch/min ) ]
joint.1 error !!!!!!??????

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Last edit: 9 years 7 months ago by dinkata.

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andypugh
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9 years 7 months ago #89614 by andypugh

Replied by andypugh on topic Z homed DRO red !

dinkata wrote: ini :
[KINS]
JOINTS = 2
KINEMATICS = trivkins coordinates=XZ

I have my lathe set up as 2 joints and use the 2.8 version of LinuxCNC.

I use the Touchy GUI and have noticed that I don't get a "homed" indicator in the GUI for the Z axis.
This looks like exactly the same problem. (Except it isn't really a problem for me, and I have ignored it).

I will try some experiments tonight to see if I can see the problem.

The following user(s) said Thank You: dinkata

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newbynobi
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9 years 7 months ago - 9 years 7 months ago #89625 by newbynobi

Replied by newbynobi on topic Z homed DRO red !

Hallo dinkata,

I just corrected your config, please find it attached.
I think you missed to change also your hal file ;-)

Norbert

P.S. This is at the moment a gmoccapy "feature / bug" I will work on this ASAP.

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Last edit: 9 years 7 months ago by newbynobi.

The following user(s) said Thank You: dinkata

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andypugh
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9 years 7 months ago #89630 by andypugh

Replied by andypugh on topic Z homed DRO red !

I think a simple solution for the OP is probably to alter their version of gmoccapy.glade (with a text editor) so that Z has joint number 1.
github.com/LinuxCNC/linuxcnc/blob/master...gmoccapy.glade#L1164

That might correct the colour but show the wrong numbers, though.

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