New Plasma build question
I have made progress today. I can now home the machine including that gantry
When homed the gui changes to the normal 3 axis which is correct but then it won't let me jog any axis, the radio buttons do change with key presses correctly but no movement in DRO or motors.
I am also getting some following errors. I have tried with P value at 10 and 1000
I have not yet set the correct scale yet
Please Log in or Create an account to join the conversation.
[KINS]
KINEMATICS = trivkins coordinates=XZYY kinstype=BOTH
[JOINT_0]
MIN_LIMIT = -1
MAX_LIMIT = 1200
HOME = 0
[AXIS_X]
MIN_LIMIT = 1
MAX_LIMIT = 1200
Your ini restricts JOINT_0 to:
[JOINT_0]MIN_LIMIT <= X <= [JOINT_0]MAX_LIMIT
-1 <= X <= 1200
coordinate (X) to:
[AXIS_X]MIN_LIMIT <= X <= [AXIS_X]MAX_LIMIT
1 <= X <= 1200
But the setting [JOINT_0]HOME=0 sets
X==JOINT_0==0 at homing completion which is within
the restrictions for JOINT_0 but not within the
restrictions for AXIS_X.
There are similar problems for the other axis
coordinates.
For identity kinematics (trivkins), one must make
the [AXIS_L]MIN_LIMIT,MAX_LIMIT less restrictive
than the corresponding [JOINT_N]MIN_LIMIT,MAX_LIMIT
It is generally simplest to make the
[AXIS_L]MIN_LIMIT,MAX_LIMIT the same as
the corresponding identity [JOINT_N] limits.
If you used a configuration tool to create the ini file
and haven't edited it, then the tool is broken in
allowing such a misconfiguration.
Please Log in or Create an account to join the conversation.
I would also set the maxerror numbers to 0
Please Log in or Create an account to join the conversation.
Now more questions. I get following errors if I try and increase the feed rate I can't get above 1000mm/min before it gives following errors.
The machine is good at distance commanded on all axis. But too slow. The drives are setup at 800 Iam using nema 34 with rack on x&y and nema 23 withball screw on z.
I have just notice this while writing
[EMC]
VERSION = 1.1
MACHINE = test2 This is not the machine name it should be plasma. Would this effect anything!!
how can I get the speed up without the following errors?
New files attached;-
Please Log in or Create an account to join the conversation.
1. set all P values to 1000
2. all maxerror values to 0
3. fix joint 1's accelerations (stepgen value is the same as joint value)
Please Log in or Create an account to join the conversation.
PCW wrote: As a first step,
1. set all P values to 1000
2. all maxerror values to 0
3. fix joint 1's accelerations (stepgen value is the same as joint value)
Peter Thanks for the rapid response.
I changed the P value to 1000 and maxerror to 0 - as you suggested yesterday. but had to change them to 10 for get rid of the following errors.
Not sure what you mean by this; fix joint 1's accelerations (stepgen value is the same as joint value)
Please Log in or Create an account to join the conversation.
So set al P's to 1000
all max_errors to 0
in
[JOINT_1]
you have
MAX_ACCELERATION = 18
and
STEPGEN_MAX_ACC = 18
STEPGEN_MAX_ACC must be at least 20% larger that the joint limit
If, after these changes, you still get following errors, can you say (or copy/paste) the exact error?
I suspect something in the axis/joint velocity/accel limits is broken
As a next step, plotting the following error of the joint with an issue will
help pinpoint the problem
Please Log in or Create an account to join the conversation.
The error is "joint 1 following error" This is when it is homing slow. It homed X ok then erred after Z started to home.
I also tried it with the sequence 0 Z first that erred the same
Please Log in or Create an account to join the conversation.
- tommylight
- Offline
- Moderator
- Posts: 4486
- Karma: 69
- Thank you received: 1225
Joint 0 must have same values as Axis X , etc.
Please Log in or Create an account to join the conversation.
tommylight wrote: The values for velocity and acceleration and stepgen_max_whatever must be the same for a given joint axis. In your ini they are all over the place.
Joint 0 must have same values as Axis X , etc.
Thanks I have tried this;-
[AXIS_Z]
MIN_LIMIT = -100
MAX_LIMIT = 1
MAX_VELOCITY = 10
MAX_ACCELERATION = 12
[JOINT_1]
AXIS = Z
MIN_LIMIT = -100
MAX_LIMIT = 1
MAX_VELOCITY = 10
MAX_ACCELERATION = 12
TYPE = LINEAR
SCALE = -200
STEPGEN_MAX_VEL = 10.0
STEPGEN_MAX_ACC = 12.0
FERROR = 1
MIN_FERROR = 0.25
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 5000
STEPSPACE = 5000
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.000127
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0
HOME = 0
HOME_OFFSET = 2
HOME_SEARCH_VEL = 8
HOME_LATCH_VEL = 2
HOME_SEQUENCE = 1
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = True
With the same error
Please Log in or Create an account to join the conversation.