Problems homing at higher speed

# Monarch_10EE.ini # Do not run configuration wizards; must edit by hand # February 4, 2016 # Uses Mesa 7i92 FPGA board driving Chinese BOB. # 7i92 configuration file 7i92_G540x2D.bit # 7i92 on IP 10.10.10.10 [EMC] MACHINE = Monarch_10EE DEBUG = 0 [DISPLAY] DISPLAY = gmoccapy PREFERENCE_FILE_PATH = gmoccapy_preferences #DISPLAY = axis #DISPLAY = gscreen #DISPLAY = tkemc POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.50 MAX_SPINDLE_OVERRIDE = 2.50 MIN_SPINDLE_OVERRIDE = 0.25 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 3 #PROGRAM_PREFIX = /home/martin/linuxcnc/nc_files PROGRAM_PREFIX = ../../nc_files/ INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in PYVCP = custompanel.xmlPREFERENCE_FILE_PATH = gmoccapy_preferences LATHE = 1 POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 0.250000 MAX_LINEAR_VELOCITY = 3.000000 MIN_LINEAR_VELOCITY = 0.010000 DEFAULT_ANGULAR_VELOCITY = 0.250000 MAX_ANGULAR_VELOCITY = 1.000000 MIN_ANGULAR_VELOCITY = 0.010000 EDITOR = gedit GEOMETRY = xz [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 = linuxPYVCP = custompanel.xmlcnc.var SUBROUTINE_PATH = macros [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 SERVO_PERIOD = 1000000 [HOSTMOT2] DRIVER = hm2_eth board_ip="10.10.10.10" #DRIVER = hm2_eth board_ip="192.168.1.121" BOARD0 = 7i92 CONFIG = "num_stepgens=4 num_encoders=0 num_pwmgens=0" [HAL] HALUI = halui HALFILE = Monarch_10EE.hal POSTGUI_HALFILE = custom_postgui.hal [TRAJ] AXES = 3 COORDINATES = X Z LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 0.10 MAX_VELOCITY = 2.40 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #[PYTHON] # The path to start a search for user modules #PATH_PREPEND = python # The start point for all. #TOPLEVEL = python/toplevel.py #******************** # Axis X #******************** [AXIS_0] TYPE = LINEAR HOME_SEARCH_VEL = 0.9 HOME_LATCH_VEL = 0.1 #HOME_FINAL_VEL = 1.0 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_OFFSET = 7.8 HOME = 6.0 HOME_IS_SHARED = 1 HOME_SEQUENCE = 0 VOLATILE_HOME = 1 FERROR = 0.001 MIN_FERROR = 0.0002 MAX_VELOCITY = 1.8 MAX_ACCELERATION = 12.75 # 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 = 2.4 STEPGEN_MAXACCEL = 17 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0 # these are in nanoseconds DIRSETUP = 50000 DIRHOLD = 50000 STEPLEN = 2000 STEPSPACE = 2000 STEP_SCALE = 12800.0 MIN_LIMIT = -0.001 MAX_LIMIT = 7.8 #BACKLASH = 0.0135 #******************** # Axis Z #******************** [AXIS_2] TYPE = LINEAR HOME_SEARCH_VEL = 0.9 HOME_LATCH_VEL = 0.1 #HOME_FINAL_VEL = 1.0 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_OFFSET = 19.5 HOME = 12 HOME_IS_SHARED = 1 HOME_SEQUENCE = 1 VOLATILE_HOME = 1 FERROR = 0.001 MIN_FERROR = 0.0002 MAX_VELOCITY = 1.25 MAX_ACCELERATION = 4.5 # 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 = 1.65 STEPGEN_MAXACCEL = 6.0 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0 # these are in nanoseconds DIRSETUP = 50000 DIRHOLD = 50000 STEPLEN = 2000 STEPSPACE = 2000 STEP_SCALE = 12800.0 MIN_LIMIT = 0.001 MAX_LIMIT = 19.5 BACKLASH = 0.015 #******************** # Spindle #******************** #[SPINDLE_14] #P = 0.0 #I = 0.0 #D = 0.0 #FF0 = 1.0 #FF1 = 0.0 #FF2 = 0.0 #BIAS = 0.0 #DEADBAND = 0.0 #MAX_OUTPUT = 2000.0 #ENCODER_SCALE = 1.0

# Monarch_10EE.hal/ # Do not run configuration wizards; must edit by hand # February 4, 2016 # Uses Mesa 7i92 FPGA board driving Chinese BOB. # 7i92 configuration file 7i92_G540x2D.bit # 7i92 on IP 10.10.10.10 loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt pid names=pid.x,pid.z,pid.s #loadrt pid num_chan=4 loadrt hostmot2 loadrt [HOSTMOT2]DRIVER config=[HOSTMOT2]CONFIG setp hm2_7i92.0.watchdog.timeout_ns 25000000 loadrt encoder num_chan=1 loadrt abs count=1 loadrt scale count=1 loadrt lowpass count=1 addf hm2_7i92.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf encoder.update-counters servo-thread #addf encoder.capture-position 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 hm2_7i92.0.write servo-thread addf encoder.capture-position servo-thread addf abs.0 servo-thread addf scale.0 servo-thread addf lowpass.0 servo-thread # latch all stepgen position counts 50 usec before nominal read time (add per PCW): setp hm2_7i92.0.dpll.01.timer-us -50 setp hm2_7i92.0.stepgen.timer-number 1 # ---setup spindle--- setp encoder.0.position-scale 10 setp encoder.0.counter-mode 1 net spindle-position encoder.0.position => motion.spindle-revs net spindle-at-speed => motion.spindle-at-speed net spindle-velocity-feedback-rps encoder.0.velocity => motion.spindle-speed-in net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable net spindle-phase-a encoder.0.phase-A net spindle-phase-b encoder.0.phase-B net spindle-index encoder.0.phase-Z #net spindle-phase-a <= hm2_7i92.0.gpio.016.in net spindle-phase-a <= hm2_7i92.0.gpio.015.in net spindle-index <= hm2_7i92.0.gpio.014.in # external output signals # external input signals # --- ESTOP-EXT --- net estop-ext <= hm2_7i92.0.gpio.013.in_not # --- BOTH-HOME --- net both-home-x <= hm2_7i92.0.gpio.016.in #net both-home-x <= hm2_7i92.0.gpio.015.in net both-home-z <= hm2_7i92.0.gpio.003.in_not #******************* # AXIS X #******************* setp pid.x.Pgain [AXIS_0]P setp pid.x.Igain [AXIS_0]I setp pid.x.Dgain [AXIS_0]D setp pid.x.bias [AXIS_0]BIAS setp pid.x.FF0 [AXIS_0]FF0 setp pid.x.FF1 [AXIS_0]FF1 setp pid.x.FF2 [AXIS_0]FF2 setp pid.x.deadband [AXIS_0]DEADBAND setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT setp pid.x.error-previous-target true setp pid.x.maxerror .0005 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 # Step Gen signals/setup setp hm2_7i92.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP setp hm2_7i92.0.stepgen.00.dirhold [AXIS_0]DIRHOLD setp hm2_7i92.0.stepgen.00.steplen [AXIS_0]STEPLEN setp hm2_7i92.0.stepgen.00.stepspace [AXIS_0]STEPSPACE setp hm2_7i92.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE setp hm2_7i92.0.stepgen.00.step_type 0 setp hm2_7i92.0.stepgen.00.control-type 1 setp hm2_7i92.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd <= axis.0.motor-pos-cmd net x-vel-cmd <= axis.0.joint-vel-cmd net x-output <= hm2_7i92.0.stepgen.00.velocity-cmd net x-pos-fb <= hm2_7i92.0.stepgen.00.position-fb net x-pos-fb => axis.0.motor-pos-fb net x-enable <= axis.0.amp-enable-out net x-enable => hm2_7i92.0.stepgen.00.enable # ---setup home / limit switch signals--- net both-home-x => axis.0.home-sw-in net both-home-x => axis.0.neg-lim-sw-in net both-home-x => axis.0.pos-lim-sw-in #******************* # 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 .0005 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_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE setp hm2_7i92.0.stepgen.02.step_type 0 setp hm2_7i92.0.stepgen.02.control-type 1 setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL setp hm2_7i92.0.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_7i92.0.stepgen.02.velocity-cmd net z-pos-fb <= hm2_7i92.0.stepgen.02.position-fb net z-pos-fb => axis.2.motor-pos-fb net z-enable <= axis.2.amp-enable-out net z-enable => hm2_7i92.0.stepgen.02.enable # ---setup home / limit switch signals--- net both-home-z => axis.2.home-sw-in net both-home-z => axis.2.neg-lim-sw-in net both-home-z => axis.2.pos-lim-sw-in #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net joint-select-a halui.joint.0.select net x-is-homed halui.joint.0.is-homed net jog-x-pos halui.jog.0.plus net jog-x-neg halui.jog.0.minus net jog-x-analog halui.jog.0.analog net joint-select-c halui.joint.2.select net z-is-homed halui.joint.2.is-homed net jog-z-pos halui.jog.2.plus net jog-z-neg halui.jog.2.minus net jog-z-analog halui.jog.2.analog net jog-selected-pos halui.jog.selected.plus net jog-selected-neg halui.jog.selected.minus #net spindle-manual-cw halui.spindle.forward #net spindle-manual-ccw halui.spindle.reverse #net spindle-manual-stop halui.spindle.stop net machine-is-on halui.machine.is-on net jog-speed halui.jog-speed net MDI-mode halui.mode.is-mdi # ---motion control signals--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled # ---estop signals--- net estop-out <= iocontrol.0.user-enable-out net estop-ext => iocontrol.0.emc-enable-in # ---coolant signals--- #net coolant-mist <= iocontrol.0.coolant-mist #net coolant-flood <= iocontrol.0.coolant-flood # ---probe signal--- #net probe-in => motion.probe-input #manual tool change #net tool-change gmoccapy.toolchange-change <= iocontrol.0.tool-change #net tool-changed gmoccapy.toolchange-changed <= iocontrol.0.tool-changed #net tool-prep-number gmoccapy.toolchange-number <= iocontrol.0.tool-prep-number #net tool-prep-loop iocontrol.0.tool-prepare <= iocontrol.0.tool-prepared #loadusr -W hal_manualtoolchange #net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change #net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed #net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number #net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

# Experimental maximums: Velocity = 2.4, Acceleration = 16 # STEPGEN_MAXVEL = experimental maximum. MAX_VELOCITY = STEPGEN_MAXVEL / 1.25. # MAX_ACCELERATION = experimental maximum acceleration / 1.25. # If BACKLASH is not set: STEPGEN_MAXACCEL = MAX_ACCELERATION * 1.25 # If BACKLASH is set: STEPGEN_MAXACCEL = MAX_ACCELERATION * 2.5 MAX_VELOCITY = 1.8 MAX_ACCELERATION = 12.75 STEPGEN_MAXVEL = 2.4 STEPGEN_MAXACCEL = 31.875 BACKLASH = 0.0135