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Problem, Problem and more Problems
- Holzwurm56
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9 years 9 months ago #85356
by Holzwurm56
Problem, Problem and more Problems was created by Holzwurm56
Hello,
i want to bring my cnc machine to work. Manual moving works, encoder scale = o. k., moving direction = o. k., homing direction = o. k.. At first i want to prepare the y-axis, this axis is easy to move with hand when system failed or the axis move in the endswitch.
When i move the axis with the arrow keys after some cm comes a following error.
When i start the homing sequence the axis moves in +y and then slow in -y, when the following error comes and i start the homing new
the axis moves in +y and by ariving the endswitch the axis move in +y too.
I set P to 1000 but there is no diffrence between 50 and 1000.
Can someone help me
Thanks
Hans
i want to bring my cnc machine to work. Manual moving works, encoder scale = o. k., moving direction = o. k., homing direction = o. k.. At first i want to prepare the y-axis, this axis is easy to move with hand when system failed or the axis move in the endswitch.
When i move the axis with the arrow keys after some cm comes a following error.
When i start the homing sequence the axis moves in +y and then slow in -y, when the following error comes and i start the homing new
the axis moves in +y and by ariving the endswitch the axis move in +y too.
I set P to 1000 but there is no diffrence between 50 and 1000.
Code:
# Generated by PNCconf at Thu Jan 5 10:35:33 2017
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again
[EMC]
MACHINE = BIMA600
DEBUG = 0
[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 3.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/rauls/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.25
MAX_LINEAR_VELOCITY = 1.0
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.000000
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 = BIMA600.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 3900.0
FERROR = 50.0
MIN_FERROR = 50.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 75.0
P = 50
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.01
MAX_OUTPUT = 10.0
ENCODER_SCALE = 3500.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -100.0
MAX_LIMIT = 4500.0
HOME_OFFSET = 4000.000000
HOME_SEARCH_VEL = 1.0
HOME_LATCH_VEL = -0.2
HOME_FINAL_VEL = 0.5000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 1450.0
FERROR = 100.0
MIN_FERROR = 100.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 75.0
P = 50
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.001
DEADBAND = 0.01
MAX_OUTPUT = 10.0
ENCODER_SCALE = 400.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -50.0
MAX_LIMIT = 1600.00
HOME_OFFSET = 1500.000000
HOME_SEARCH_VEL = 0.50
HOME_LATCH_VEL = -0.20
HOME_FINAL_VEL = 0.5000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 210.0
FERROR = 50.0
MIN_FERROR = 50.0
MAX_VELOCITY = 12.50
MAX_ACCELERATION = 35.0
P = 50
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.01
MAX_OUTPUT = 5.0
ENCODER_SCALE = 1000.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -10.0
MAX_LIMIT = 230.0
HOME_OFFSET = 220.000000
HOME_SEARCH_VEL = 1.0
HOME_LATCH_VEL = -0.2
HOME_FINAL_VEL = 0.5000000
HOME_USE_INDEX = NO
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
Code:
# Generated by PNCconf at Thu Jan 5 10:35:33 2017
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again
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=4 num_stepgens=0 sserial_port_0=000xxx"
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
# external output signals
# external input signals
# --- HOME-X ---
net home-x <= hm2_5i25.0.7i77.0.0.input-00-not
# --- HOME-Y ---
net home-y <= hm2_5i25.0.7i77.0.0.input-01-not
# --- HOME-Z ---
net home-z <= hm2_5i25.0.7i77.0.0.input-02-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
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
net x-output => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-cmd axis.0.motor-pos-cmd
net x-enable axis.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable hm2_5i25.0.7i77.0.1.analogena
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net home-x => 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
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp pid.y.error-previous-target true
setp pid.y.maxerror .0005
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
net y-output => hm2_5i25.0.7i77.0.1.analogout1
net y-pos-cmd axis.1.motor-pos-cmd
net y-enable axis.1.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.01.counter-mode 0
setp hm2_5i25.0.encoder.01.filter 1
setp hm2_5i25.0.encoder.01.index-invert 0
setp hm2_5i25.0.encoder.01.index-mask 0
setp hm2_5i25.0.encoder.01.index-mask-invert 0
setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
net y-pos-fb <= hm2_5i25.0.encoder.01.position
net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net home-y => axis.1.home-sw-in
net y-neg-limit => axis.1.neg-lim-sw-in
net y-pos-limit => axis.1.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
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
net z-output => hm2_5i25.0.7i77.0.1.analogout2
net z-pos-cmd axis.2.motor-pos-cmd
net z-enable axis.2.amp-enable-out
# ---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 z-neg-limit => axis.2.neg-lim-sw-in
net z-pos-limit => axis.2.pos-lim-sw-in
#*******************
# 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
Thanks
Hans
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9 years 9 months ago #85358
by PCW
Replied by PCW on topic Problem, Problem and more Problems
After you get feedback working (jog moves in the right direction and motors hold position)
you need to tune the PID loop. Heres JTs basic tuning tutorial:
gnipsel.com/linuxcnc/tuning/servo.html
( at the minimum FF1 is very likely wrong since FF1=1 means the motor should move at 10 mm/sec at 10V )
you need to tune the PID loop. Heres JTs basic tuning tutorial:
gnipsel.com/linuxcnc/tuning/servo.html
( at the minimum FF1 is very likely wrong since FF1=1 means the motor should move at 10 mm/sec at 10V )
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- Holzwurm56
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9 years 9 months ago #85364
by Holzwurm56
Replied by Holzwurm56 on topic Problem, Problem and more Problems
Hello,
I read this manual, but i set P to 1000 and there is no effect and the courios condition when i run the homing sequence, I cannot understand.
Does someone knows what is a usable result for FERROR and MIN_FERROR? Means this the diffrence between nominal and real position in mm or in encoder counts?
Thanks
Hans
I read this manual, but i set P to 1000 and there is no effect and the courios condition when i run the homing sequence, I cannot understand.
Does someone knows what is a usable result for FERROR and MIN_FERROR? Means this the diffrence between nominal and real position in mm or in encoder counts?
Thanks
Hans
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9 years 9 months ago #85366
by PCW
Replied by PCW on topic Problem, Problem and more Problems
ferror and min_ferror would be in machine units (mm in your case)
It sounds like something basic is wrong with your drives or how they are connected, or some setup error of some kind
Even a very badly tuned system would not have more than a few mm error
( and P of 1000 should cause terrible oscillations since this means a error of only .01 mm would cause a full scale (10V)
speed command )
It sounds like something basic is wrong with your drives or how they are connected, or some setup error of some kind
Even a very badly tuned system would not have more than a few mm error
( and P of 1000 should cause terrible oscillations since this means a error of only .01 mm would cause a full scale (10V)
speed command )
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- Holzwurm56
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9 years 9 months ago #85370
by Holzwurm56
Replied by Holzwurm56 on topic Problem, Problem and more Problems
Hello PCW,
when I use LinuxCNC for a milling machine and while milling a circle or a ellipse and there is 1mm diffrence the workpiece will be scrap.
Thanks
Hans
when I use LinuxCNC for a milling machine and while milling a circle or a ellipse and there is 1mm diffrence the workpiece will be scrap.
Thanks
Hans
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9 years 9 months ago #85371
by PCW
Replied by PCW on topic Problem, Problem and more Problems
Sure
I am saying that before fine tuning the following error should not be more than a couple mm
The fact that you can cause a 100 mm following error indicates something more than just tuning is wrong
I am saying that before fine tuning the following error should not be more than a couple mm
The fact that you can cause a 100 mm following error indicates something more than just tuning is wrong
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- leonkamffer
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9 years 9 months ago #85423
by leonkamffer
Replied by leonkamffer on topic Problem, Problem and more Problems
I suggest remove the setp pid.y.maxerror .0005 for all the axis in the hal file. Some versions of pncconfig add it. Since the pid error is limited even very large K will have limited effect on the PID output. I also could not tune the PID on a new machine till I removed the pid.n.maxerror lines from hal file.
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9 years 9 months ago #85458
by johnmc1
Replied by johnmc1 on topic Problem, Problem and more Problems
Good day,
I think that the following lines are are not required for the x ,y, z, spindle axis.
Try commenting out in x,y,z, spindle
It works for me
example
#setp pid.x.error-previous-target true
#setp pid.x.maxerror .0005
cheers john
I think that the following lines are are not required for the x ,y, z, spindle axis.
Try commenting out in x,y,z, spindle
It works for me
example
#setp pid.x.error-previous-target true
#setp pid.x.maxerror .0005
cheers john
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- Holzwurm56
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9 years 9 months ago #85509
by Holzwurm56
Replied by Holzwurm56 on topic Problem, Problem and more Problems
Hello John,
many thanks for your answer, it was very helpful.
I comment out these lines in the hal-file. The follwing error message appears no more.
BIAS stable.
The axis calibration react on the P setting.
Thanks
Hans
many thanks for your answer, it was very helpful.
I comment out these lines in the hal-file. The follwing error message appears no more.
BIAS stable.
The axis calibration react on the P setting.
Thanks
Hans
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9 years 9 months ago #85565
by Holzwurm56
Replied by Holzwurm56 on topic Problem, Problem and more Problems
Hello,
when I move the axis with the arrowkeys the axis starts moving and then is there a hearable change of the speed. When I
let loose the key the axis move some mm further.
I record the halscope display with my handy, but the file has many Mb.
In what kind of way can i show them here?
Thanks
Hans
when I move the axis with the arrowkeys the axis starts moving and then is there a hearable change of the speed. When I
let loose the key the axis move some mm further.
I record the halscope display with my handy, but the file has many Mb.
In what kind of way can i show them here?
Thanks
Hans
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