Index Homing odd offset

OT-CNC
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11 years 1 day ago #64476 by OT-CNC

Replied by OT-CNC on topic Index Homing odd offset

PCW and Andy

Thanks for looking at all this.

I will update my hal file to see if it loads. Let me know if you still see anything obviously wrong with it.

Thanks for confirming that the index homing looks correct.

PCW, on a side note, I sent you a pm for 5i25 and 7i85 custom firmware request to get 1 pwm out on my stepper configuration to wire the spinx1 for spindle control.
Is there a possibility you could configure one assuming it doesn't already exist? Please let me know as I need to get my spindle up and running.
Many thanks!

www.linuxcnc.org/index.php/english/forum...spinx1-to-7i85#64354

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PCW
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11 years 1 day ago #64487 by PCW

Replied by PCW on topic Index Homing odd offset

Yeah I will try an get to this in the next day or 2

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OT-CNC
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11 years 1 day ago #64490 by OT-CNC

Replied by OT-CNC on topic Index Homing odd offset

Thank you PCW. :cheer:

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OT-CNC
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11 years 1 day ago #64491 by OT-CNC

Replied by OT-CNC on topic Index Homing odd offset

Just got back from the shop. I changed the hal file and it appears to be closed loop now. Tried tuning again but I think something is still wrong in the hal. I get joint following errors even at slow 5 ipm feed rates. It does not seem to matter what I do with P. (went from 10 to 1000) Also there is an oscillation at rest, maybe +-.010" on the dro. I can feel the ballscrew increase in frequency. Slow to faster then it errors out. Maybe 1hz to 4hz. I added some deadband but that didn't change anything.
The home routine still didn't zero out the dro on index, mostly failed during joint following error as expected.
I'm re-attaching the Z axis section of hal please someone point out what is missing.

Code:

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=5 num_pwmgens=1 num_stepgens=3 sserial_port_0=20xxxxx" 
setp    hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.z,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle

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.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf abs.spindle              servo-thread
addf lowpass.spindle          servo-thread
addf hm2_5i25.0.write         servo-thread

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

setp   pid.z.Pgain     [AXIS_2]P
setp   pid.z.Igain     [AXIS_2]I
setp   pid.z.Dgain     [AXIS_2]D
setp   pid.z.bias      [AXIS_2]BIAS
setp   pid.z.FF0       [AXIS_2]FF0
setp   pid.z.FF1       [AXIS_2]FF1
setp   pid.z.FF2       [AXIS_2]FF2
setp   pid.z.deadband  [AXIS_2]DEADBAND
setp   pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp   pid.z.error-previous-target true
setp   pid.z.maxerror .005

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

# Step Gen signals/setup

setp   hm2_5i25.0.stepgen.02.dirsetup        [AXIS_2]DIRSETUP
setp   hm2_5i25.0.stepgen.02.dirhold         [AXIS_2]DIRHOLD
setp   hm2_5i25.0.stepgen.02.steplen         [AXIS_2]STEPLEN
setp   hm2_5i25.0.stepgen.02.stepspace       [AXIS_2]STEPSPACE
setp   hm2_5i25.0.stepgen.02.position-scale  [AXIS_2]STEP_SCALE
setp   hm2_5i25.0.stepgen.02.step_type        0
setp   hm2_5i25.0.stepgen.02.control-type     1
setp   hm2_5i25.0.stepgen.02.maxaccel         [AXIS_2]STEPGEN_MAXACCEL
setp   hm2_5i25.0.stepgen.02.maxvel           [AXIS_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd    <= axis.2.motor-pos-cmd
net z-vel-cmd    <= axis.2.joint-vel-cmd
net z-output     <= hm2_5i25.0.stepgen.02.velocity-cmd
net z-pos-fb     <= hm2_5i25.0.stepgen.02.position-fb
net z-enable     <= axis.2.amp-enable-out
net z-enable     => hm2_5i25.0.stepgen.02.enable

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

setp    hm2_5i25.0.encoder.02.counter-mode 0
setp    hm2_5i25.0.encoder.02.filter 1
setp    hm2_5i25.0.encoder.02.index-invert 0
setp    hm2_5i25.0.encoder.02.index-mask 0
setp    hm2_5i25.0.encoder.02.index-mask-invert 0
setp    hm2_5i25.0.encoder.02.scale  [AXIS_2]ENCODER_SCALE

net z-pos-fb               <=  hm2_5i25.0.encoder.02.position
net z-vel-fb               <=  hm2_5i25.0.encoder.02.velocity
net z-pos-fb               =>  axis.2.motor-pos-fb
net z-index-enable    axis.2.index-enable  <=>  hm2_5i25.0.encoder.02.index-enable
net z-pos-rawcounts        <=  hm2_5i25.0.encoder.02.rawcounts

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

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

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PCW
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11 years 1 day ago #64493 by PCW

Replied by PCW on topic Index Homing odd offset

The hal file looks basically correct (but the INI file needs looking at also)

What I would suggest is setting the following error (and min following error) fairly large, say 1 inch
and then plotting the following error in halscope

It will be very difficult to tune unless the encoder scale and step/dir scale match (at least with FF1=1)

That is you should be able to set P=0 and still get approximately correct motion by velocity command only (courtesy of FF1)

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OT-CNC
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11 years 9 hours ago #64533 by OT-CNC

Replied by OT-CNC on topic Index Homing odd offset

The hal file looks basically correct (but the INI file needs looking at also)

What I would suggest is setting the following error (and min following error) fairly large, say 1 inch
and then plotting the following error in halscope

It will be very difficult to tune unless the encoder scale and step/dir scale match (at least with FF1=1)

That is you should be able to set P=0 and still get approximately correct motion by velocity command only (courtesy of FF1)

I did the above, and it looks like the motion is correct when run at 12ipm and FF1=1.

A short vid here:

Something is still way off when p get's introduced. The following errors are large and the axis either creeps or bounced back and forth. I tried I and D to see if anything would improve.
Should I be looking at the encoder channel as well?

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PCW
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11 years 9 hours ago #64535 by PCW

Replied by PCW on topic Index Homing odd offset

you might try raising maxerror (to say .050 ) and plotting what happens with a P of 1

BTW I think a screen shot of halscope stopped at an appropriate time would be a lot easier to see

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OT-CNC
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10 years 11 months ago #64552 by OT-CNC

Replied by OT-CNC on topic Index Homing odd offset

I will try the suggested following error numbers in the ini.
If I understand correctly, the system is trying to keep the following error between FERROR (rapid move) and MIN_FERROR (slow feed rate) values.

How does this come into play in the hal file? Should this be the same number as the FERROR?
setp pid.z.maxerror .0005

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andypugh
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10 years 11 months ago #64553 by andypugh

Replied by andypugh on topic Index Homing odd offset

OT-CNC wrote: How does this come into play in the hal file? Should this be the same number as the FERROR?
setp pid.z.maxerror .0005

No, the pid error limits are all about controlling the way the pid works, mainly to prevent wind up.
The parameters are all described here:
www.linuxcnc.org/docs/html/man/man9/pid.9.html

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OT-CNC
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10 years 11 months ago #64758 by OT-CNC

Replied by OT-CNC on topic Index Homing odd offset

As far as this topic is concerned, homing with index does work as pointed out if the settings are right.
That part seems to work now for me.
Currently, I'm still having tuning issues. It does not seem to matter what I do, I can't see any clear progress. I'm re-attaching the ini file in case something is missing there.
Also, PCW how is progress on the custom 5i25 firmware for the SpinX? Thank you for your time.

Code:

# Generated by PNCconf at Wed Aug 19 18:14:48 2015
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = lathe_v6
DEBUG = 0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/ot/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
LATHE = 1
DEFAULT_LINEAR_VELOCITY = 0.250000
MAX_LINEAR_VELOCITY = 5.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = xyz

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25

[HAL]
HALUI = halui
HALFILE = lathe_v6.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[TRAJ]
AXES = 3
COORDINATES = X Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.10
MAX_LINEAR_VELOCITY = 5.0

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_WITH_SPINDLE_ON = 1

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.5
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 30
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 6.0
STEPGEN_MAXACCEL = 37.50
P = 50.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 6.0
ENCODER_SCALE = 20000.0
# these are in nanoseconds
DIRSETUP   = 1000
DIRHOLD    = 1000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 20000.0
MIN_LIMIT = -0.25
MAX_LIMIT = 12.0
HOME_OFFSET = 0.02500
HOME_SEARCH_VEL = 0.050000
HOME_LATCH_VEL = -0.030000
HOME_FINAL_VEL = 0.030000
HOME_USE_INDEX = YES
HOME_SEQUENCE = 1

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.5
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 30
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 6.0
STEPGEN_MAXACCEL = 37.50
P = 50.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 6.0
ENCODER_SCALE = -20000.0
# these are in nanoseconds
DIRSETUP   = 1000
DIRHOLD    = 1000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = -20000.0
MIN_LIMIT = -10.000
MAX_LIMIT = 0.010
HOME_OFFSET =0.02500
HOME_SEARCH_VEL = 0.050000
HOME_LATCH_VEL = -0.030000
HOME_FINAL_VEL = 0.030000
HOME_USE_INDEX = YES
HOME_SEQUENCE = 0

#********************
# Spindle 
#********************
[SPINDLE_9]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000

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