AASD chinese ac servo's step/dir Oscilations

# Generated by PNCconf at Wed Dec 4 06:18:45 2019 # Using LinuxCNC version: UNAVAILABLE # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=4 sserial_port_0=200xxx" setp hm2_7i92.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.x2,pid.y,pid.z,pid.s loadrt mux4 count=3 addf hm2_7i92.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.x.do-pid-calcs servo-thread addf pid.x2.do-pid-calcs servo-thread addf pid.y.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 mux4.0 servo-thread setp hm2_7i92.0.dpll.01.timer-us -50 setp hm2_7i92.0.stepgen.timer-number 1 # external output signals # external input signals # --- BOTH-HOME-X --- ##net both-home-x <= hm2_7i92.0.7i76.0.0.input-01 # --- BOTH-HOME-X2 --- ##net both-home-x2 <= hm2_7i92.0.7i76.0.0.input-02 # --- BOTH-HOME-Y --- ##net both-home-y <= hm2_7i92.0.7i76.0.0.input-03 # --- BOTH-HOME-Z --- ##$net both-home-z <= hm2_7i92.0.7i76.0.0.input-04 #******************* # AXIS X JOINT 0 #******************* 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 setp pid.x.maxerror .01 net x-index-enable <=> pid.x.index-enable net x-enable => pid.x.enable net x-pos-cmd => pid.x.command net x-pos-fb => pid.x.feedback net x-output <= pid.x.output # Step Gen signals/setup setp hm2_7i92.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_7i92.0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_7i92.0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_7i92.0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_7i92.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE setp hm2_7i92.0.stepgen.00.step_type 2 setp hm2_7i92.0.stepgen.00.control-type 1 setp hm2_7i92.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd <= joint.0.motor-pos-cmd net x-vel-cmd <= joint.0.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 => joint.0.motor-pos-fb net x-enable <= joint.0.amp-enable-out net x-enable => hm2_7i92.0.stepgen.00.enable # ---setup home / limit switch signals--- net both-home-x => joint.0.home-sw-in net both-home-x => joint.0.neg-lim-sw-in net both-home-x => joint.0.pos-lim-sw-in #******************* # Tandem AXIS X2 JOINT 1 #******************* setp pid.x2.Pgain [JOINT_1]P setp pid.x2.Igain [JOINT_1]I setp pid.x2.Dgain [JOINT_1]D setp pid.x2.bias [JOINT_1]BIAS setp pid.x2.FF0 [JOINT_1]FF0 setp pid.x2.FF1 [JOINT_1]FF1 setp pid.x2.FF2 [JOINT_1]FF2 setp pid.x2.deadband [JOINT_1]DEADBAND setp pid.x2.maxoutput [JOINT_1]MAX_OUTPUT setp pid.x2.error-previous-target true setp pid.x2.maxerror .01 net x2-index-enable <=> pid.x2.index-enable net x2-enable => pid.x2.enable net x2-pos-cmd => pid.x2.command net x2-pos-fb => pid.x2.feedback net x2-output <= pid.x2.output # Step Gen signals/setup for tandem axis setp hm2_7i92.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_7i92.0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_7i92.0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_7i92.0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_7i92.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE setp hm2_7i92.0.stepgen.01.step_type 2 setp hm2_7i92.0.stepgen.01.control-type 1 setp hm2_7i92.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x2-pos-cmd <= joint.1.motor-pos-cmd net x2-vel-cmd <= joint.1.vel-cmd net x2-output <= hm2_7i92.0.stepgen.01.velocity-cmd net x2-pos-fb <= hm2_7i92.0.stepgen.01.position-fb net x2-pos-fb => joint.1.motor-pos-fb net x2-enable <= joint.1.amp-enable-out net x2-enable => hm2_7i92.0.stepgen.01.enable # ---setup home / limit switch signals--- 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-in #******************* # AXIS Y JOINT 2 #******************* setp pid.y.Pgain [JOINT_2]P setp pid.y.Igain [JOINT_2]I setp pid.y.Dgain [JOINT_2]D setp pid.y.bias [JOINT_2]BIAS setp pid.y.FF0 [JOINT_2]FF0 setp pid.y.FF1 [JOINT_2]FF1 setp pid.y.FF2 [JOINT_2]FF2 setp pid.y.deadband [JOINT_2]DEADBAND setp pid.y.maxoutput [JOINT_2]MAX_OUTPUT setp pid.y.error-previous-target true setp pid.y.maxerror .01 net y-index-enable <=> pid.y.index-enable net y-enable => pid.y.enable net y-pos-cmd => pid.y.command net y-pos-fb => pid.y.feedback net y-output <= pid.y.output # Step Gen signals/setup setp hm2_7i92.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP setp hm2_7i92.0.stepgen.02.dirhold [JOINT_2]DIRHOLD setp hm2_7i92.0.stepgen.02.steplen [JOINT_2]STEPLEN setp hm2_7i92.0.stepgen.02.stepspace [JOINT_2]STEPSPACE setp hm2_7i92.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE setp hm2_7i92.0.stepgen.02.step_type 2 setp hm2_7i92.0.stepgen.02.control-type 1 setp hm2_7i92.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y-pos-cmd <= joint.2.motor-pos-cmd net y-vel-cmd <= joint.2.vel-cmd net y-output <= hm2_7i92.0.stepgen.02.velocity-cmd net y-pos-fb <= hm2_7i92.0.stepgen.02.position-fb net y-pos-fb => joint.2.motor-pos-fb net y-enable <= joint.2.amp-enable-out net y-enable => hm2_7i92.0.stepgen.02.enable # ---setup home / limit switch signals--- net both-home-y => joint.2.home-sw-in net both-home-y => joint.2.neg-lim-sw-in net both-home-y => joint.2.pos-lim-sw-in #******************* # AXIS Z JOINT 3 #******************* setp pid.z.Pgain [JOINT_3]P setp pid.z.Igain [JOINT_3]I setp pid.z.Dgain [JOINT_3]D setp pid.z.bias [JOINT_3]BIAS setp pid.z.FF0 [JOINT_3]FF0 setp pid.z.FF1 [JOINT_3]FF1 setp pid.z.FF2 [JOINT_3]FF2 setp pid.z.deadband [JOINT_3]DEADBAND setp pid.z.maxoutput [JOINT_3]MAX_OUTPUT setp pid.z.error-previous-target true setp pid.z.maxerror .01 net z-index-enable <=> pid.z.index-enable net z-enable => pid.z.enable net z-pos-cmd => pid.z.command net z-pos-fb => pid.z.feedback net z-output <= pid.z.output # Step Gen signals/setup setp hm2_7i92.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP setp hm2_7i92.0.stepgen.03.dirhold [JOINT_3]DIRHOLD setp hm2_7i92.0.stepgen.03.steplen [JOINT_3]STEPLEN setp hm2_7i92.0.stepgen.03.stepspace [JOINT_3]STEPSPACE setp hm2_7i92.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE setp hm2_7i92.0.stepgen.03.step_type 2 setp hm2_7i92.0.stepgen.03.control-type 1 setp hm2_7i92.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd <= joint.3.motor-pos-cmd net z-vel-cmd <= joint.3.vel-cmd net z-output <= hm2_7i92.0.stepgen.03.velocity-cmd net z-pos-fb <= hm2_7i92.0.stepgen.03.position-fb net z-pos-fb => joint.3.motor-pos-fb net z-enable <= joint.3.amp-enable-out net z-enable => hm2_7i92.0.stepgen.03.enable # ---setup home / limit switch signals--- net both-home-z => joint.3.home-sw-in net both-home-z => joint.3.neg-lim-sw-in net both-home-z => joint.3.pos-lim-sw-in #******************* # SPINDLE #******************* setp pid.s.Pgain [SPINDLE_0]P setp pid.s.Igain [SPINDLE_0]I setp pid.s.Dgain [SPINDLE_0]D setp pid.s.bias [SPINDLE_0]BIAS setp pid.s.FF0 [SPINDLE_0]FF0 setp pid.s.FF1 [SPINDLE_0]FF1 setp pid.s.FF2 [SPINDLE_0]FF2 setp pid.s.deadband [SPINDLE_0]DEADBAND setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT setp pid.s.error-previous-target true net spindle-index-enable <=> pid.s.index-enable net spindle-enable => pid.s.enable net spindle-vel-cmd-rpm => pid.s.command net spindle-vel-fb-rpm => pid.s.feedback net spindle-output <= pid.s.output #net spindle-enable hm2_7i92.0.7i76.0.0.output-00 # ---setup spindle control signals--- net spindle-vel-cmd-rps <= spindle.0.speed-out-rps net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs net spindle-vel-cmd-rpm <= spindle.0.speed-out net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs net spindle-enable <= spindle.0.on net spindle-cw <= spindle.0.forward net spindle-ccw <= spindle.0.reverse net spindle-brake <= spindle.0.brake net spindle-revs => spindle.0.revs #net spindle-at-speed => spindle.0.at-speed net spindle-vel-fb-rps => spindle.0.speed-in net spindle-index-enable <=> spindle.0.index-enable # ---Setup spindle at speed signals--- setp hm2_7i92.0.7i76.0.0.spinout-scalemax 24000 setp hm2_7i92.0.7i76.0.0.spinout-maxlim 24000 setp hm2_7i92.0.7i76.0.0.spinout-minlim 0 #sets spindle-at-speed true loadrt timedelay count=1 addf timedelay.0 servo-thread setp timedelay.0.on-delay 10 setp timedelay.0.off-delay 0 net spindle-enable => timedelay.0.in net spindle-ready <= timedelay.0.out net spindle-ready => spindle.0.at-speed net spindle-enable hm2_7i92.0.7i76.0.0.spinena net spindle-vel-cmd-rpm hm2_7i92.0.7i76.0.0.spinout #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net axis-select-x halui.axis.x.select net jog-x-pos halui.axis.x.plus net jog-x-neg halui.axis.x.minus net jog-x-analog halui.axis.x.analog net x-is-homed halui.joint.0.is-homed net axis-select-y halui.axis.y.select net jog-y-pos halui.axis.y.plus net jog-y-neg halui.axis.y.minus net jog-y-analog halui.axis.y.analog net y-is-homed halui.joint.1.is-homed net axis-select-z halui.axis.z.select net jog-z-pos halui.axis.z.plus net jog-z-neg halui.axis.z.minus net jog-z-analog halui.axis.z.analog net z-is-homed halui.joint.2.is-homed net jog-selected-pos halui.axis.selected.plus net jog-selected-neg halui.axis.selected.minus net spindle-manual-cw halui.spindle.0.forward net spindle-manual-ccw halui.spindle.0.reverse net spindle-manual-stop halui.spindle.0.stop net machine-is-on halui.machine.is-on net jog-speed halui.axis.jog-speed net MDI-mode halui.mode.is-mdi # ---coolant signals--- #net coolant-mist <= iocontrol.0.coolant-mist #net coolant-flood <= iocontrol.0.coolant-flood # ---probe signal--- net probe-in => motion.probe-input # ---motion control signals--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled # ---digital in / out signals--- # ---estop signals--- #net estop-out <= iocontrol.0.user-enable-out #net estop-out => iocontrol.0.emc-enable-in loadrt estop_latch addf estop-latch.0 servo-thread net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset net remote-estop estop-latch.0.fault-in <= hm2_7i92.0.7i76.0.0.input-00-not # ---manual tool change signals--- loadusr -W hal_manualtoolchange net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change net tool-change-confirmed 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

# Generated by PNCconf at Wed Dec 4 06:18:45 2019 # Using LinuxCNC version: UNAVAILABLE # If you make changes to this file, they will be # overwritten when you run PNCconf again [EMC] MACHINE = TN1 DEBUG = 0 VERSION = 1.1 [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/fab1/linuxcnc/nc_files INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 4.0 MAX_LINEAR_VELOCITY = 10 MIN_LINEAR_VELOCITY = 0.016670 DEFAULT_ANGULAR_VELOCITY = 12.000000 MAX_ANGULAR_VELOCITY = 180.000000 MIN_ANGULAR_VELOCITY = 1.666667 EDITOR = gedit GEOMETRY = xxyz #OPEN_FILE = /home/fab1/CNCT_LOGO.ngc [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 SERVO_PERIOD = 1000000 [HMOT] # **** This is for info only **** CARD0=hm2_7i92.0 [HAL] HALUI = halui HALFILE = TN1.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal SHUTDOWN = shutdown.hal [HALUI] [KINS] JOINTS = 4 KINEMATICS = trivkins coordinates=XXYZ [TRAJ] COORDINATES = XXYZ LINEAR_UNITS = inch ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 0.10 MAX_LINEAR_VELOCITY = 1.00 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #****************************************** [AXIS_X] MAX_VELOCITY = 10 MAX_ACCELERATION = 10.0 MIN_LIMIT = -0.001 MAX_LIMIT = 96.0 [JOINT_0] TYPE = LINEAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 10 MAX_ACCELERATION = 10.0 # 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 = 50 STEPGEN_MAXACCEL = 150 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 = 0.0 # these are in nanoseconds DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = 1422.0 MIN_LIMIT = -0.001 MAX_LIMIT = 96 #HOME_OFFSET = -0.500000 #HOME_SEARCH_VEL = -1 #HOME_LATCH_VEL = -0.5 #HOME_FINAL_VEL = 1.000000 #HOME_USE_INDEX = NO #HOME_IGNORE_LIMITS = YES #HOME_SEQUENCE = -2 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_SEQUENCE = 0 [JOINT_1] TYPE = LINEAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 10 MAX_ACCELERATION = 10.0 # 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 = 50 STEPGEN_MAXACCEL = 150 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 = 0.0 # these are in nanoseconds DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = -1422.0 MIN_LIMIT = -0.001 MAX_LIMIT = 96 #HOME_OFFSET = -0.500000 #HOME_SEARCH_VEL = -1 #HOME_LATCH_VEL = -0.5 #HOME_FINAL_VEL = 1.000000 #HOME_USE_INDEX = NO #HOME_IGNORE_LIMITS = YES #HOME_SEQUENCE = -2 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_SEQUENCE = 0 #****************************************** #****************************************** [AXIS_Y] MAX_VELOCITY = 10 MAX_ACCELERATION = 10.0 MIN_LIMIT = -0.001 MAX_LIMIT = 48.0 [JOINT_2] TYPE = LINEAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 10 MAX_ACCELERATION = 10.0 # 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 = 50.25 STEPGEN_MAXACCEL = 150.50 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 = 0.0 # these are in nanoseconds DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 2000 STEPSPACE = 2000 STEP_SCALE = 1422.0 MIN_LIMIT = -0.001 MAX_LIMIT = 48.0 #HOME_OFFSET = -0.500000 #HOME_SEARCH_VEL = -1 #HOME_LATCH_VEL = -0.5 #HOME_FINAL_VEL = 1.000000 #HOME_USE_INDEX = NO #HOME_IGNORE_LIMITS = YES #HOME_SEQUENCE = -1 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_SEQUENCE = 0 #****************************************** #****************************************** [AXIS_Z] MAX_VELOCITY = 3.0 MAX_ACCELERATION = 8.0 MIN_LIMIT = -8.0 MAX_LIMIT = 0.001 [JOINT_3] TYPE = LINEAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 3.0 MAX_ACCELERATION = 8.0 # 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 = 10 STEPGEN_MAXACCEL = 55 P = 1000 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = -7300 MIN_LIMIT = -8.0 MAX_LIMIT = 0.001 #HOME_OFFSET = -0.500000 #HOME_SEARCH_VEL = -1 #HOME_LATCH_VEL = -0.5 #HOME_FINAL_VEL = 1.000000 #HOME_USE_INDEX = NO #HOME_IGNORE_LIMITS = YES #HOME_SEQUENCE = -0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_SEQUENCE = 0 #****************************************** [SPINDLE_0] P = 0 I = 0 D = 0 FF0 = 1 FF1 = 0 FF2 = 0 BIAS = 0 DEADBAND = 0 MAX_OUTPUT = 24000 OUTPUT_SCALE = 24000 OUTPUT_MIN_LIMIT = 0 OUTPUT_MAX_LIMIT = 24000