Thanks, I made a mistake here it 20 unite, so 2 ms
Smallest I can go is 0.2 ms
Should I go as small as possible?
Here the section of my INI
Code:
[TRAJ]
AXES = 4
COORDINATES = X Y Z A
HOME = 0 0 0 0
MAX_ANGULAR_VELOCITY = 125
DEFAULT_ANGULAR_VELOCITY = 3
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 20
MAX_LINEAR_VELOCITY = 208.3333
SPINDLES = 1
NO_FORCE_HOMING = 1 #spaeter auskommentiren
POSITION_FILE = position.txt
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins coordinates=XYZA
JOINTS = 4
[AXIS_X]
MIN_LIMIT = -29.330
MAX_LIMIT = 973.670
MAX_VELOCITY = 208.3333
MAX_ACCELERATION = 125
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 208.3333
MAX_ACCELERATION = 500.0
BACKLASH = 0.000
FERROR = 50000
#0.5
MIN_FERROR = 50000
#0.5
INPUT_SCALE = 1600
OUTPUT_SCALE = 208.3333
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 208.3333
MIN_LIMIT = -29.330
MAX_LIMIT = 973.670
#HOME = 0.000
#HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = -50
#HOME_LATCH_VEL = 5
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.000015
P = 50
I = 0
D = 0
FF0 = 0
FF1 = 0.048
FF2 = 0
BIAS = 0
and the x-axis in my hal:
[code]# ################
# X [0] Axis
# ################
# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable => pid.0.enable
#net emcmot.00.enable => hm2_7i97.0.pwmgen.00.enable
net freigabe => hm2_7i97.0.pwmgen.00.enable
net emcmot.00.enable <= joint.0.amp-enable-out
# encoder feedback
setp hm2_7i97.0.encoder.00.counter-mode 0
setp hm2_7i97.0.encoder.00.filter 1
setp hm2_7i97.0.encoder.00.index-invert 0
setp hm2_7i97.0.encoder.00.index-mask 0
setp hm2_7i97.0.encoder.00.index-mask-invert 0
setp hm2_7i97.0.encoder.00.scale [JOINT_0]INPUT_SCALE
net motor.00.pos-fb hm2_7i97.0.encoder.00.position => pid.0.feedback
net motor.00.pos-fb => joint.0.motor-pos-fb #push copy back to Axis GUI
# set PID loop gains from inifile
setp pid.0.Pgain [JOINT_0]P
setp pid.0.Igain [JOINT_0]I
setp pid.0.Dgain [JOINT_0]D
setp pid.0.bias [JOINT_0]BIAS
setp pid.0.FF0 [JOINT_0]FF0
setp pid.0.FF1 [JOINT_0]FF1
setp pid.0.FF2 [JOINT_0]FF2
setp pid.0.deadband [JOINT_0]DEADBAND
setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
# position command signals
setp hm2_7i97.0.pwmgen.00.output-type 1
setp hm2_7i97.0.pwmgen.00.offset-mode 1 # offset mode so 50% = 0
setp hm2_7i97.0.pwmgen.00.scale [JOINT_0]OUTPUT_SCALE
net emcmot.00.pos-cmd joint.0.motor-pos-cmd => pid.0.command
net motor.00.command pid.0.output => hm2_7i97.0.pwmgen.00.value
# home and limit
net in_x_ref => joint.0.home-sw-in
net in_x_limit_n => joint.0.neg-lim-sw-in
net in_x_limit_p => joint.0.pos-lim-sw-in
[/code]
