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New Plasma build question

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18 Aug 2019 06:53 #142416 by tommylight
Replied by tommylight on topic New Plasma build question
And you can set to autohide the small irritating panel.

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18 Aug 2019 07:25 #142420 by Clive S
Replied by Clive S on topic New Plasma build question

And you can set to autohide the small irritating panel.


Yes I will do when I have it up and running. its just handy for screen shots and easy navigation for the time being.

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12 Sep 2019 15:36 - 12 Sep 2019 16:00 #144968 by Clive S
Replied by Clive S on topic New Plasma build question
Another update ;- photos.app.goo.gl/4ZjNinvR69Bkcaf39

I am banging my head against a wall :(

The ini and hal files are attached (work in progress) I have already wired my drives with X on step0 - Z on step1 and Y on steps 2,3

Now the problem is left/right arrows move the X and up/down move the Z. When using page up/down it errors with sync problems

When I try "home all" the x moves first then errors with limit switch .

Could you please check my ini file for the correct coordinates under [KINS] and [TRAJ]

My inputs for home switches are on TB3:-

pins
1 X left
2 X right
3 Z
4 Float
5 Breakaway
6 Y1
7 Y2

Will I have to alter the drive wire order?

File Attachment:

File Name: plasma.ini
File Size:4 KB

File Attachment:

File Name: plasma.hal
File Size:7 KB


Edit :I have also just realised I have not set the home switch inputs in the ini file
Attachments:
Last edit: 12 Sep 2019 16:00 by Clive S. Reason: added text

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12 Sep 2019 15:59 - 12 Sep 2019 16:14 #144969 by PCW
Replied by PCW on topic New Plasma build question
A few obvious things wrong in the hal/ini files:
1. No limit/home switch connections at all in the hal file
2. You have KINEMATICS = trivkins coordinates=xyyz kinstype=BOTH
but you have the stepgen joints wired X,Z,Y,Y
Last edit: 12 Sep 2019 16:14 by PCW.
The following user(s) said Thank You: Clive S

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12 Sep 2019 16:31 - 12 Sep 2019 16:39 #144971 by dgarrett
Replied by dgarrett on topic New Plasma build question
Your config:
$ grep -Ei JOINT_[0123]\]\|coordinates\|TRAJ\|HOME_SEQUENCE  *.ini
KINEMATICS = trivkins coordinates=xyyz kinstype=BOTH
[TRAJ]
COORDINATES = xyyz
[JOINT_0]
HOME_SEQUENCE = 0
[JOINT_1]
HOME_SEQUENCE = 2
[JOINT_2]
HOME_SEQUENCE = -1
[JOINT_3]
HOME_SEQUENCE = -1

is ok, but you have:

joint0 == X home_sequence 0
joint1 == Y home_sequence 2
joint2 == Y home_sequence -1
joint3 == Z home_sequence -1

You probably want the two joints for Y to be synchronized:
joint0 == X home_sequence 0
joint1 == Y home_sequence -1
joint2 == Y home_sequence -1
joint3 == Z home_sequence 2

or an alternate ordering for joint3(Z) first
and joints1,2(Y) last:
joint0 == X home_sequence 1
joint1 == Y home_sequence -2
joint2 == Y home_sequence -2
joint3 == Z home_sequence 0

With basic configurations, you can test for homing,
joint-assigment, coordinates, etc. without hardware by
making a sim config from your hardware config:
$ # copy yourconfig.ini and edit:
$ cp yourconfig.ini simconfig.ini
$ # edit to comment out normal HALFILES and use basic_sim.tcl
$ grep HALFILE *.ini
HALFILE = basic_sim.tcl
#HALFILE = plasma.hal
#HALFILE = io.hal
#HALFILE = custom.hal
#POSTGUI_HALFILE = postgui.hal
$ # test the sim:
$ linuxcnc simconfig.ini
This method can show many problems with ini settings
and does not require connections to actual hardware.

The created simconfig simulates home switches and allows you
to test/demonstrate 1) homing of individual joints, 2)
home-all, and 3) jogging in both joint and coordinated modes
(before and after homing)

Experimenting with a sim config is often quicker and
safer than with hardware and can be educational too.
Last edit: 12 Sep 2019 16:39 by dgarrett.
The following user(s) said Thank You: Clive S, CarterKraft

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12 Sep 2019 16:37 #144972 by Clive S
Replied by Clive S on topic New Plasma build question

A few obvious things wrong in the hal/ini files:
1. No limit/home switch connections at all in the hal file
2. You have KINEMATICS = trivkins coordinates=xyyz kinstype=BOTH
but you have the stepgen joints wired X,Z,Y,Y


Thanks for the rapid reply.
So I have tried putting XZYY in [KINS] and {TRAJ] but the up/down arrow still moves the Z instead of the page up/down

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12 Sep 2019 16:46 - 12 Sep 2019 16:50 #144973 by Clive S
Replied by Clive S on topic New Plasma build question
Thanks.
I have already wired the motors as joint 0 =x joint 1 =z and joint 2 =y1 joint 3=y2

Could you advise me as to the correct coordinates to set so that the Z moves with page up/down

I have tried this with XZYY as this I would have thought being correct for my setup

Edit: Does the coordinates have to be XYYZ if so I will have to rewire the drives to suit?
Last edit: 12 Sep 2019 16:50 by Clive S. Reason: added text

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12 Sep 2019 17:50 - 12 Sep 2019 18:00 #144976 by dgarrett
Replied by dgarrett on topic New Plasma build question
As i understand, your concern is the behavior of the
pgup/pgdn keys prior to homing. Prior to homing
keyboard key jog assignments are based on joint number.
After homing, keyboard key jog assignments follow
conventions for x:leftarrow/rightarrow, y:uparrow/downarrow,
z:pgup/pgdn
___________________________________________________________

When configuring xzyy as follows:
KINEMATICS = trivkins coordinates=xzyy kinstype=BOTH
[TRAJ]
COORDINATES = xzyy
[JOINT_0]
HOME_SEQUENCE = 1
[JOINT_1]
HOME_SEQUENCE = 0
[JOINT_2]
HOME_SEQUENCE = -2
[JOINT_3]
HOME_SEQUENCE = -2

In joint mode (*before* homing) the axis gui assigns
keyboard keys for jogging based on the joint number:
leftarrow/rightarrow-- joint0 (x after homing)
uparrow/downarrow----- joint1 (y after homing 
pgup/pgdown----------- joint2 (synced, no joint jog allowed)
[/]------------------- joint3 (synced, no joint jog allowed)

*after homing*, the axis gui will assign keyboard
keys for jogging as:
leftarrow/rightarrow-- X
uparrow/downarrow----- Y
pgup/pgdown----------- Z
___________________________________________________________

To make the axis gui assignments for pgup/pgdown keys
in joint mode (before homing) agree with the assignments
after homing for the joint that corresponds to Z,
configure as:
KINEMATICS = trivkins coordinates=xyzy kinstype=both
[TRAJ]
COORDINATES = xyzy
[JOINT_0]
HOME_SEQUENCE = 1
[JOINT_1]
HOME_SEQUENCE = -2 
[JOINT_2]
HOME_SEQUENCE = 0
[JOINT_3]
HOME_SEQUENCE = -2

Before homing:
leftarrow/rightarrow-- joint0 (x after homing)
uparrow/downarrow----- joint1 (synced, no joint jog allowed)
pgup/pgdown----------- joint2 (z after homing)
[/]------------------- joint3 (synced, no joint jog allowed)

After homing:
leftarrow/rightarrow-- X
uparrow/downarrow----- Y
pgup/pgdown----------- Z
Last edit: 12 Sep 2019 18:00 by dgarrett.
The following user(s) said Thank You: tommylight, Clive S

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12 Sep 2019 18:05 #144977 by Clive S
Replied by Clive S on topic New Plasma build question
@dgarrett.

Thank you the above description is very helpful.

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12 Sep 2019 21:39 #144989 by rodw
Replied by rodw on topic New Plasma build question
Dewey, thanks its a nice explanation. As a long term user of V2.8 Joint axes, I do recall it was not always as well behaved. :woohoo:

But now Linuxcnc recognises a joint axis pair before homing, I often wonder why it does not just move those two joints in unison to allow jogging before homing. That would be more user friendly in my view then denying the jog request.

Whilst the machine may not be "square" at that point, moving both joints in unison is not going to break anything. Limit switches would still be active. Sometimes you just want to get the gantry out of the road to service the machine or something.

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