Hello guys,
I just finished my control panel and as I was setting up the mpg for jogging I noticed that the speed at which the axis moves is different depending on the direction. For example: If I move the Y axis with a 0.1mm scale in the negative direction and turn the mpg encoder as fast as I can I get a velocity of about 400-500 mm/min. If I now turn in the positive direction I get 1400-1600 mm/min. The Z axis is the same. On the X axis it is reversed, so negative = fast, positive = slow. I am using a 7i84D and one of these 100ppr ebay mpg encoders(which has been fitted to an original Deckel mpg). So only A and B phase (also no shielded cable).
I checked the raw counts of the encoder. Sometimes it missed one or two counts, but is that causing the speed difference? The difference in speed is extremly repeatable, even after reboot.
Here is my HAL for the mpg (the top half is only for selecting the axis and scale):
Code:
loadrt mux4 count=1
addf mux4.0 servo-thread
setp mux4.0.in0 0
setp mux4.0.in1 0.00001
setp mux4.0.in2 0.0001
setp mux4.0.in3 0
loadrt handrad
addf handrad.0 servo-thread
loadrt ilowpass
addf ilowpass.0 servo-thread
setp ilowpass.0.scale 1000
setp ilowpass.0.gain 0.01
net mpgx_in handrad.0.inx <= hm2_7i92.0.7i84.0.2.input-04
net mpgy_in handrad.0.iny <= hm2_7i92.0.7i84.0.2.input-05
net mpgz_in handrad.0.inz <= hm2_7i92.0.7i84.0.2.input-06
net mpga_in handrad.0.ina <= hm2_7i92.0.7i84.0.2.input-07
net mpg10_in handrad.0.in10 <= hm2_7i92.0.7i84.0.2.input-09
net mpg100_in handrad.0.in100 <= hm2_7i92.0.7i84.0.2.input-08
net mpgx_led handrad.0.outx => hm2_7i92.0.7i84.0.2.output-01 axis.x.jog-enable
net mpgy_led handrad.0.outy => hm2_7i92.0.7i84.0.2.output-02 axis.y.jog-enable
net mpgz_led handrad.0.outz => hm2_7i92.0.7i84.0.2.output-03 axis.z.jog-enable
net mpga_led handrad.0.outa => hm2_7i92.0.7i84.0.2.output-04 axis.a.jog-enable
net mpg10_led handrad.0.out10 => hm2_7i92.0.7i84.0.2.output-06 mux4.0.sel1
net mpg100_led handrad.0.out100 => hm2_7i92.0.7i84.0.2.output-05 mux4.0.sel0
net mpg-scale <= mux4.0.out
net mpg-scale => axis.x.jog-scale
net mpg-scale => axis.y.jog-scale
net mpg-scale => axis.z.jog-scale
net mpg-scale => axis.a.jog-scale
#did not see any change when 1 or 0
#setp axis.x.jog-vel-mode 1
#setp axis.y.jog-vel-mode 1
#setp axis.z.jog-vel-mode 1
net jog-counts-raw ilowpass.0.in <= hm2_7i92.0.7i84.0.2.enc0.count
net jog-counts ilowpass.0.out => axis.x.jog-counts
net jog-counts ilowpass.0.out => axis.y.jog-counts
net jog-counts ilowpass.0.out => axis.z.jog-counts
net jog-counts ilowpass.0.out => axis.a.jog-counts
Thanks!
