5i25 + 7i85s +....

Emanresu
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9 years 10 months ago #84971 by Emanresu

Replied by Emanresu on topic 5i25 + 7i85s +....

(I have a test config that does about 3 million mm/m = ~90 MPH and 10 MHz step rates)

I didnt know LinuxCNC is also used for Bullriding O.o

Sadly as a usual Windows user im accustomed to input fields, buttons and little popup infoboxes.

But after the last days i have to say, its amazing to work "the Linux way"!
All my respekt to you guys for creating an Software Package like this!
I just love the endless possibilitys!

And i figured my problem out. (*proud*)

PID MAX_OUTPUT was set to 100

Here is my HAL anyway. Im interested in your opinion about my segmentation.
For some reason i just realized how HAL works while i created my own order.

Warning: Spoiler!

Code:

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=4 num_pwmgens=1 num_stepgens=4 sserial_port_0=00xxxx" 

setp    hm2_5i25.0.pwmgen.pwm_frequency 20000
setp    hm2_5i25.0.pwmgen.pdm_frequency 6000000
setp    hm2_5i25.0.watchdog.timeout_ns 5000000

loadrt pid names=pid.x,pid.y,pid.z,pid.s

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.y.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf hm2_5i25.0.write         servo-thread



#****************************************************************************
# SPS
#****************************************************************************

#net amp-enable        <=  axis.0.amp-enable-out
#net amp-enable        =>  parport.0.pin-16-out



#****************************************************************************
#  AXIS X
#****************************************************************************

#~~~~~~~~~~~~~~~~~~~
# PID Parameter 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

#~~~~~~~~~~~~~~~~~~~
# MESA Parameter X
#~~~~~~~~~~~~~~~~~~~

setp   hm2_5i25.0.stepgen.00.dirsetup        [AXIS_0]DIRSETUP
setp   hm2_5i25.0.stepgen.00.dirhold         [AXIS_0]DIRHOLD
setp   hm2_5i25.0.stepgen.00.steplen         [AXIS_0]STEPLEN
setp   hm2_5i25.0.stepgen.00.stepspace       [AXIS_0]STEPSPACE
setp   hm2_5i25.0.stepgen.00.position-scale  [AXIS_0]STEP_SCALE
setp   hm2_5i25.0.stepgen.00.step_type        0
setp   hm2_5i25.0.stepgen.00.control-type     1
setp   hm2_5i25.0.stepgen.00.maxaccel        [AXIS_0]STEPGEN_MAXACCEL
setp   hm2_5i25.0.stepgen.00.maxvel          [AXIS_0]STEPGEN_MAXVEL

#~~~~~~~~~~~~~~~~~~~
# Signals X
#~~~~~~~~~~~~~~~~~~~

net x-enable          <=  axis.0.amp-enable-out
net x-enable          =>  hm2_5i25.0.stepgen.00.enable
net x-enable          =>  pid.x.enable

net x-pos-cmd         <=  axis.0.motor-pos-cmd
net x-pos-cmd         =>  pid.x.command 
               
net x-vel-cmd         <=  axis.0.joint-vel-cmd
net x-vel-cmd         =>  pid.x.command-deriv 

net x-output          <=  pid.x.output
net x-output          =>  hm2_5i25.0.stepgen.00.velocity-cmd

net x-pos-fb          <=  hm2_5i25.0.stepgen.00.position-fb
net x-pos-fb          =>  pid.x.feedback
net x-pos-fb          =>  axis.0.motor-pos-fb

#net x-vel-fb         <=  hm2_5i25.0.encoder.00.velocity
#net x-vel-fb         =>  pid.x.feedback-deriv                   


net x-index-enable  <=> pid.x.index-enable
#net x-index-enable    axis.0.index-enable  <=>  hm2_5i25.0.encoder.00.index-enable

#~~~~~~~~~~~~~~~~~~~
# Limit Switch X
#~~~~~~~~~~~~~~~~~~~

net x-home-sw        =>  axis.0.home-sw-in
net x-neg-limit      =>  axis.0.neg-lim-sw-in
net x-pos-limit      =>  axis.0.pos-lim-sw-in


#****************************************************************************
#  AXIS Y
#****************************************************************************


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


#****************************************************************************
#  SPINDLE S
#****************************************************************************

setp   pid.s.Pgain     [SPINDLE_9]P
setp   pid.s.Igain     [SPINDLE_9]I
setp   pid.s.Dgain     [SPINDLE_9]D
setp   pid.s.bias      [SPINDLE_9]BIAS
setp   pid.s.FF0       [SPINDLE_9]FF0
setp   pid.s.FF1       [SPINDLE_9]FF1
setp   pid.s.FF2       [SPINDLE_9]FF2
setp   pid.s.deadband  [SPINDLE_9]DEADBAND
setp   pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp   pid.s.error-previous-target true
setp   pid.s.maxerror .0005

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

# ---setup spindle control signals---

net spindle-vel-cmd-rps        <=  motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs    <=  motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm        <=  motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs    <=  motion.spindle-speed-out-abs
net spindle-enable             <=  motion.spindle-on
net spindle-cw                 <=  motion.spindle-forward
net spindle-ccw                <=  motion.spindle-reverse
net spindle-brake              <=  motion.spindle-brake
net spindle-revs               =>  motion.spindle-revs
net spindle-at-speed           =>  motion.spindle-at-speed
net spindle-vel-fb-rps         =>  motion.spindle-speed-in
net spindle-index-enable      <=>  motion.spindle-index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true


#******************************
# 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-b        halui.joint.1.select
net y-is-homed            halui.joint.1.is-homed
net jog-y-pos             halui.jog.1.plus
net jog-y-neg             halui.jog.1.minus
net jog-y-analog          halui.jog.1.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

#  ---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

#  ---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

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andypugh
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9 years 10 months ago #84972 by andypugh

Replied by andypugh on topic 5i25 + 7i85s +....

Glad you sorted it out.
And any file layout that works and makes sense to you is OK, they are your files, after all :-)

(and yours are a lot neater than mine)

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Emanresu
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9 years 9 months ago #84973 by Emanresu

Replied by Emanresu on topic 5i25 + 7i85s +....

THX!

Much to learn and alot to achieve! But im so happy, that i wasnt to lazy to start that work.

Old Setup: NEMA 34 + LPT + Wormdrive = 300mm/min at 0.001mm Resolution
Now: 1.5Kw Servo + MESA + direct connection = 30.000mm/min at 0.005mm / 15.000mm/min at 0.001mm

Max testet Speed was 60.000 at 0.005 and 30.000 at 0.001. But i wont need that AT ALL.
Its just amazing! Thos values are close to an 20.000$ Simens Sinumerik (OK,... no hardware based PID. But still close!)

Next Steps:
- marry Miss Linearscale and Mr. PID
- get rid of G64 (stole me 3 hours where i tweaked around in my INI to find acceleration issues)
- figure out a position mode with PWM for Toolchange

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andypugh
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9 years 9 months ago #84975 by andypugh

Replied by andypugh on topic 5i25 + 7i85s +....

I was confused for a moment there, then realised you are using the European-style thousand separator, and mean that you have 30000 mm/min or 30 m/min now?

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Emanresu
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9 years 9 months ago #84976 by Emanresu

Replied by Emanresu on topic 5i25 + 7i85s +....

Korrekt 30m/min. I may reduce it for Savety....

Update:
Encoder works

Hal split into seperate Files for X,Y,Z,SPS

I just ask myselfe if that is a good Idea. It doesnt change anything for cycle time right?

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andypugh
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9 years 9 months ago #84977 by andypugh

Replied by andypugh on topic 5i25 + 7i85s +....

Emanresu wrote: Hal split into seperate Files for X,Y,Z,SPS

I just ask myselfe if that is a good Idea. It doesnt change anything for cycle time right?

No, the HAL file only runs once at startup to make the connections, there is no disadvantage to splitting up the files as you see fit.

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Emanresu
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9 years 9 months ago #84978 by Emanresu

Replied by Emanresu on topic 5i25 + 7i85s +....

I hoped and assumed this

Hm... im not able to get rid of G64 at startup.
When i google it, i just find explanations what it does.

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andypugh
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9 years 9 months ago #84993 by andypugh

Replied by andypugh on topic 5i25 + 7i85s +....

Emanresu wrote: Hm... im not able to get rid of G64 at startup.
When i google it, i just find explanations what it does.

Can you try re-phrasing the question? I can't work out what you are asking?
Can you explain what you expect to happen, and what actually happens, and what you consider the difference to be?

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Emanresu
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9 years 9 months ago #84995 by Emanresu

Replied by Emanresu on topic 5i25 + 7i85s +....

Sorry!

I was talking about the G-Code G64.
It allways shows up whit the startfile of axis GUI.

At the Moment i edited the INI to load another File with G61 set.
But i totaly wona avoid G64.

And is it possible to use the encoder as DRO only?
I use direct Step/Dir instead of +-10V and my real difference after a long loop testrun was about 0.002mm.

Or even better, as an emergency Stop when a diverence (maybe +-1mm) hapens + DRO

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andypugh
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9 years 9 months ago #84999 by andypugh

Replied by andypugh on topic 5i25 + 7i85s +....

Emanresu wrote: I was talking about the G-Code G64.
It allways shows up whit the startfile of axis GUI.
At the Moment i edited the INI to load another File with G61 set.

There is another way, using RS274NGC_STARTUP_CODE

And is it possible to use the encoder as DRO only?

If you set the GUI to display actual position rather than commanded position you might get what you want.

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