Help with homing on dual axis PlasmaC

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16 Jul 2020 21:43 - 16 Jul 2020 21:53 #174887 by Clive S
Please see the vid for the problem with the homing one side stutters and and the other side is fine and homes without stutter.

The motors are closed loop servos. The machine is grounded correctly.

After it homes it jogs perfectly at 15M/min


There is no binding on the screw

could it be this setp pid.y2.maxerror .0005

is the debounce correctly setup ?

File Attachment:

File Name: test.ini
File Size:5 KB

File Attachment:

File Name: test.hal
File Size:10 KB
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Last edit: 16 Jul 2020 21:53 by Clive S. Reason: added text

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16 Jul 2020 23:25 #174892 by phillc54
You haven't connected the debounce outputs, instead of:
net home-y     =>  joint.0.home-sw-in
and
net home-y2     =>  joint.0.home-sw-in

you need something like:
net home-y-out   debounce.0.0.out  =>  joint.1.home-sw-in
and
net home-y2-out  debounce.0.1.out  =>  joint.2.home-sw-in
you could probably also setp the debounce delay a lot lower
The following user(s) said Thank You: Clive S

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17 Jul 2020 07:22 #174908 by Clive S

You haven't connected the debounce outputs, instead of:
net home-y     =>  joint.0.home-sw-in
and
net home-y2     =>  joint.0.home-sw-in

you need something like:
net home-y-out   debounce.0.0.out  =>  joint.1.home-sw-in
and
net home-y2-out  debounce.0.1.out  =>  joint.2.home-sw-in
you could probably also setp the debounce delay a lot lower


Thanks Phill

Are the timings for debounce in nano or usecs

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17 Jul 2020 07:24 #174910 by tommylight

could it be this setp pid.y2.maxerror .0005

Those lines should be deleted or omitted, in most cases.

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17 Jul 2020 07:27 #174911 by phillc54

Are the timings for debounce in nano or usecs

I believe they are servo periods, so usually 1 mS per period.

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17 Jul 2020 07:28 #174912 by phillc54

could it be this setp pid.y2.maxerror .0005

Those lines should be deleted or omitted, in most cases.

@Tom
Do they cause issues? I see that I have the same in my config.

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17 Jul 2020 07:35 #174913 by Clive S

could it be this setp pid.y2.maxerror .0005

Those lines should be deleted or omitted, in most cases.

@Tom
Do they cause issues? I see that I have the same in my config.


I have seen PCW say delete them many time for stepper configs not sure about close loop servos
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17 Jul 2020 07:40 #174914 by Clive S

You haven't connected the debounce outputs, instead of:
net home-y     =>  joint.0.home-sw-in
and
net home-y2     =>  joint.0.home-sw-in

you need something like:
net home-y-out   debounce.0.0.out  =>  joint.1.home-sw-in
and
net home-y2-out  debounce.0.1.out  =>  joint.2.home-sw-in
you could probably also setp the debounce delay a lot lower


Thanks Phill

Are the timings for debounce in nano or usecs


Is this correct then:-

# --- HOME-Y ---
net home-y <= hm2_7i96.0.gpio.003.in_not
net home-y debounce.0.0.in

net home-y-out debounce.0.0.out
net home-y-out => joint.1.home-sw-in

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17 Jul 2020 07:42 #174917 by phillc54

Is this correct then:-

# --- HOME-Y ---
net home-y <= hm2_7i96.0.gpio.003.in_not
net home-y debounce.0.0.in

net home-y-out debounce.0.0.out
net home-y-out => joint.1.home-sw-in

Yep, that looks OK.
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17 Jul 2020 07:52 #174921 by tommylight

could it be this setp pid.y2.maxerror .0005

Those lines should be deleted or omitted, in most cases.

@Tom
Do they cause issues? I see that I have the same in my config.

Yes on stepper systems, not sure about servo, but since it is a step/dir system, chances are they have to be removed. They case instability/vibrations/errors on position tracking. I got used to just deleting them.
PCW also showed when that line would be useful, but i can not find the topic, it was about 7 or more months ago.

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