New Plasma build question

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13 Sep 2019 17:14 #145065 by Clive S
Replied by Clive S on topic New Plasma build question
Thanks to Dewey (dgarrett) and Peter (PCW)

I have made progress today. I can now home the machine including that gantry :woohoo:

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

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File Name: plasma_2019-09-13.ini
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13 Sep 2019 18:11 #145069 by dgarrett
Replied by dgarrett on topic New Plasma build question
Your ini has:
[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
Your ini restricts the corresponding identity
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.
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13 Sep 2019 18:12 #145070 by PCW
Replied by PCW on topic New Plasma build question
P (all joints) should be 1000
I would also set the maxerror numbers to 0
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14 Sep 2019 14:31 #145135 by Clive S
Replied by Clive S on topic New Plasma build question
Further update: With the above help I now have a good homing machine and can jog all axis when homed.

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;-

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14 Sep 2019 14:49 #145136 by PCW
Replied by PCW on topic New Plasma build question
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)
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14 Sep 2019 15:05 #145138 by Clive S
Replied by Clive S on topic New Plasma build question

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)

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14 Sep 2019 15:15 #145140 by PCW
Replied by PCW on topic New Plasma build question
If P of 1000 causes a following error, the trouble is elsewhere
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
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14 Sep 2019 17:08 #145149 by Clive S
Replied by Clive S on topic New Plasma build question
I have done as you suggested. Also formatted the ini a bit easier to read

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



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14 Sep 2019 17:32 #145157 by tommylight
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.
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14 Sep 2019 17:56 #145162 by Clive S
Replied by Clive S on topic New Plasma build question

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

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