Re: [Emc-users] Question with gantry setup
On 30 May 2012 03:42, Jon Elson el...@pico-systems.com wrote: When the home command is given, both motors are given identical step rates toward the home position. When the first motor trips the home switch, the step pulses are interrupted to that motor. I think that one would have to do more than simply interrupt the steps, as that would cause the motor to slip to an unknown position (with steppers, not so with step/dir servo amps) Freezing the commanded position to the stepgen would allow the stepgen maxaccel to catch the problem, though (possibly) -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
2012/5/30 andy pugh bodge...@gmail.com: On 30 May 2012 03:42, Jon Elson el...@pico-systems.com wrote: When the home command is given, both motors are given identical step rates toward the home position. When the first motor trips the home switch, the step pulses are interrupted to that motor. I think that one would have to do more than simply interrupt the steps, as that would cause the motor to slip to an unknown position (with steppers, not so with step/dir servo amps) And why would it do so? For example (syntax not correct, just demonstrating the principle), with mux2bit component (I made this up for my last machine - standard mux2 customized for bit inputs and output): net x-step-in mux2bit.in0 -- stepgen.0.step setp mux2bit.in1 false net x-step-out mux2bit.in0 -- parport.0.pin-01 net x-interrupt mux2bit.sel -- [whatever HAL signal to command that] There are 2 options, depending on mux2bit.sel pin - either the stepper drive receives the step signals or that lpt pin is set to be false. And if stepper drive does not receive step signals, it will hold its position (in the place, where it was, when step signal was interrupted), not randomly drift somewhere. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
On 30 May 2012 10:50, Viesturs Lācis viesturs.la...@gmail.com wrote: 2012/5/30 andy pugh bodge...@gmail.com: I think that one would have to do more than simply interrupt the steps, as that would cause the motor to slip And why would it do so? Because the motor is spinning and the gantry is moving, and the system can't stop instantaneously within one step increment. -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
2012/5/30 andy pugh bodge...@gmail.com: On 30 May 2012 10:50, Viesturs Lācis viesturs.la...@gmail.com wrote: 2012/5/30 andy pugh bodge...@gmail.com: I think that one would have to do more than simply interrupt the steps, as that would cause the motor to slip And why would it do so? Because the motor is spinning and the gantry is moving, and the system can't stop instantaneously within one step increment. You are right, if the interrupt is done during move. Then yes - it is not good thing to do. Not only will it stop in unknown position, but the deceleration would be very high - it would cause additional stress to machine construction. I am sure that it would work, if it is done the way I suggest: 1) home gantry with slave connected to a home switch on slave end; 2) when it is stopped; disconnect slave step signal and change X home switch to one on master end of gantry; 3) rehome X, this time slave will stand still and gantry will be squared out; 4) when it is stopped, connect the slave joint back. All it needs is 2 instances of mux2bit component - one for interrupting step signals, the other for swapping home switches. Sel pins for both instances can be driven with one pyvcp button. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
On 30 May 2012 11:15, Viesturs Lācis viesturs.la...@gmail.com wrote: I am sure that it would work, if it is done the way I suggest: 1) home gantry with slave connected to a home switch on slave end; 2) when it is stopped; disconnect slave step signal and change X home switch to one on master end of gantry; 3) rehome X, this time slave will stand still and gantry will be squared out; 4) when it is stopped, connect the slave joint back. All it needs is 2 instances of mux2bit component I think that it could be done more easily by twiddling the stepgen enables rather than muxing the step bits. 1) Home to slave switch, both stepgens enabled 2) Home to master switch, with only master stepgen enabled. It might even be possible to do it automatically inside the homing sequence. You could use a dummy axis which was first in the step sequence for the initial home, then home the true axis second. -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
2012/5/30 andy pugh bodge...@gmail.com: On 30 May 2012 11:15, Viesturs Lācis viesturs.la...@gmail.com wrote: I am sure that it would work, if it is done the way I suggest: 1) home gantry with slave connected to a home switch on slave end; 2) when it is stopped; disconnect slave step signal and change X home switch to one on master end of gantry; 3) rehome X, this time slave will stand still and gantry will be squared out; 4) when it is stopped, connect the slave joint back. All it needs is 2 instances of mux2bit component I think that it could be done more easily by twiddling the stepgen enables rather than muxing the step bits. It could be nice, but... If I understand correctly, then it would be something like this: net x-pos axis.0.pos-cmd -- stepgen.0.pos-cmd stepgen.3.pos-cmd The problem is that, while one stepgen would be disabled, axis.0.pos-cmd would change its value and, when the stepgen would be enabled again, it would jump to the axis.0.pos-cmd, which is exactly what we do not want it to do. 1) Home to slave switch, both stepgens enabled 2) Home to master switch, with only master stepgen enabled. It might even be possible to do it automatically inside the homing sequence. You could use a dummy axis which was first in the step sequence for the initial home, then home the true axis second. And how do You suggest to switch the slave joint from dummy axis to follow the true axis? -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
On 30 May 2012 12:10, Viesturs Lācis viesturs.la...@gmail.com wrote: The problem is that, while one stepgen would be disabled, axis.0.pos-cmd would change its value and, when the stepgen would be enabled again, it would jump to the axis.0.pos-cmd, which is exactly what we do not want it to do. I _think_ that is OK, as both real and dummy axis positions reset to the same value when homed (I would have to actually watch it happening to be sure). And how do You suggest to switch the slave joint from dummy axis to follow the true axis? Mux looks like the only way. (or a Gantryhome component) -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
2012/5/30 andy pugh bodge...@gmail.com: On 30 May 2012 12:10, Viesturs Lācis viesturs.la...@gmail.com wrote: The problem is that, while one stepgen would be disabled, axis.0.pos-cmd would change its value and, when the stepgen would be enabled again, it would jump to the axis.0.pos-cmd, which is exactly what we do not want it to do. I _think_ that is OK, as both real and dummy axis positions reset to the same value when homed (I would have to actually watch it happening to be sure). It resets axis.n.pos-cmd, but it does not reset motor.n.pos-cmd (or is it axis.n.motor-pos-cmd?). It does the jump, when slave is connected back to master - that is one of the reasons I failed doing it in HAL (I mentioned it one of my previous emails). And how do You suggest to switch the slave joint from dummy axis to follow the true axis? Mux looks like the only way. (or a Gantryhome component) Yes, additional math is required to treat the varying offsets between axis.n.pos-cmd and motor.n.pos-cmd as first one is reset, when homed, the second is not. I still do think that simple rerouting of step signals is the simplest way to go. So it could be like this: 1) home to master switch with slave joint connected to master; 2) home to slave switch with slave joint connected to dummy; That would require one mux2bit instance with mux2bit.sel pin connected to joint.dummy.is-homing and slave joint connected to master by default. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
2012/5/30 Jon Elson el...@pico-systems.com: On 30 May 2012 12:10, Viesturs Lācis viesturs.la...@gmail.com wrote: The problem is that, while one stepgen would be disabled, axis.0.pos-cmd would change its value and, when the stepgen would be enabled again, it would jump to the axis.0.pos-cmd, which is exactly what we do not want it to do. I'd use ONE stepgen, and switch the step outputs AFTER the stepgen, to control which motors move. Yes, that is exactly my point. To make this work most precisely, it might be necessary to limit the speed of the homing move to a fairly low speed. IMHO best approach is to completely stop and only then switch steps on/off. But very slow movement also could work. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
On Mon, May 28, 2012 at 3:08 PM, Viesturs Lācis viesturs.la...@gmail.comwrote: 2012/5/28 Bryce Johnson sie...@gmail.com: I've just been trying to tune my gantry setup and I have had a few problems. I am using 2.5. I am using gantrykins with XYZX. I am trying to set up my limits for for speed on my Z axis of 180ipm. In joint mode, jogging around, it seems to obey this. When I switch to world it doesn't listen to that limit anymore and I can (try to) jog it up to my MAX_LINEAR_VELOCITY = 6.00 in my [TRAJ] in my ini. This will throw a joint error. I guess joint following error is meant here. It seems like I lose some flexibility when using gantrykins vs just slaving the drives together (although I would like to be able to home both X1 and X2 independently). Is there a way to home the drives and then run it as if they were slaved? If I understand correctly, then You are having difficulties with Z axis, but gantrykins simply maps 2 joints to X axis, so I do not see, how changing kinematics module (and hardwire slaving the 2nd joint) will help here. If I remember correctly on my previous machine (3axis 3 motors), even if the jog speed was high, it would get limited by the axis speed in the ini. This was nice so I could jog my x and y at high speed and then my z was limited. If on my new machine (XYZX) if I set it up the same way (hardwire slaving) then the machine would respect those limits instead of throwing a joint error. Also If I had it this way, the soft limits would be in place... which is nice for jogging around. My suggestion (could be considered as workaround) is: in [TRAJ] section 1) set default_linear_velocity to something that Your Z axis can handle 2) set max_linear_velocity to something that Your X and Y can handle when You need to jog Z, simply jog it at default speed. When You want to jog X or Y at max speed, press shift and arrows - it will jog at max velocity. I am not sure, how that all really works, but explicitly telling LinuxCNC to jog a joint faster than it is capable to do so is something it will complain about. I guess that simply limiting that speed to joint's max velocity would be better, but I assume there may be a reason for not to be set up this way, I really do not know. And then some other problems are my somewhat poor base period (this is the reason my Z can't go about about 180ipm on a screw drive). I have a 3 GHz pentium 4. Tried the SMI fix, an external video card,and disabling all the power saving stuff in the bios and can't seem to get it below ~45000 jitter worst case. I've thought about getting one of those little atom boards to improve the stepping, or should I get one of those mesa cards I keep seeing you guys use (like 5i25? at $90 that would be as cheap as a atom board). Could I plug that directly into my C10 breakout board from keling (http://www.kelinginc.com/c10.pdf)? 45000 is really unpleasant. Is that single-core or dual-core cpu? I am typing this on dual-core Pentium - I do not know, when did Intel manage to put those out, I thought they were calling all dual-core cpus to be core2duo or something like that until I got this PC. Single Core. I should have held on to my older cnc pc that got better numbers (around 25000 or 3). FPGA cards available for LinuxCNC will connect directly to PC either via LPT port (Pico Systems cards and Mesa's 7i43) or in pci slot (Mesa's 5i23, 5i25 etc). FPGA cards will not plug in any breakout board of whatsoever. If You want to use Your existing Keling breakout board, I would suggest 5i25. Take the pinout of that board and check with Mesa people, if it matches with any of existing firmwares (there should be a match, but AFAIK they will adjust one for You, if there isn't). So in the end You should be able to plug the lpt cable from Your breakout board in 5i25 and just tweak Your config a little bit. Cost-wise it would be the same as atom board, but performance-wise use of FPGA card beats any software-stepping setup in many points, including smoother step signals, increased number of i/o pins, better realtime performance etc. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users Bryce -- Live Security Virtual Conference Exclusive live
Re: [Emc-users] Question with gantry setup
On Mon, May 28, 2012 at 2:55 PM, andy pugh bodge...@gmail.com wrote: On 28 May 2012 20:34, Bryce Johnson sie...@gmail.com wrote: It seems like I lose some flexibility when using gantrykins vs just slaving the drives together (although I would like to be able to home both X1 and X2 independently). Is there a way to home the drives and then run it as if they were slaved? Not that I know of. Though I think it is possible to automatically switch to world mode when homed. I am surprised that it will try to drive a joint faster than the max velocity for that joint though. atom boards to improve the stepping, or should I get one of those mesa cards I keep seeing you guys use (like 5i25? at $90 that would be as cheap as a atom board). Could I plug that directly into my C10 breakout board from keling (http://www.kelinginc.com/c10.pdf)? I think it will probably plug straight in with the correct firmware loaded. It gives you much more than a swap to an Atom board. An Atom board will give you 4x the current step rate, a 5i25 will give you nearer 400x. You don't need 400x, but there is an advantage in the much lower step rate granularity. There is a daughter-board for the 5i25 (7i76) which does a lot more than a simple BoB, but that requires a different firmware on the 5i25. It can be changed, but it is akin to a BIOS flash, so is some effort (and I don't think the Linux version of the utility is ready yet) -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users I think I'll look into one of the mesa boards. Probably the 5i25. That would fix part of the issue with not being able to drive the Z fast enough. I'll also have to look into auto switching from joint mode, so I don't accidentally jog one of my x joints. Can you set parms in the INI that are just used by the world mode? Like X axis speed? The soft limits? -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
2012/5/29 Bryce Johnson sie...@gmail.com: If I remember correctly on my previous machine (3axis 3 motors), even if the jog speed was high, it would get limited by the axis speed in the ini. This was nice so I could jog my x and y at high speed and then my z was limited. If on my new machine (XYZX) if I set it up the same way (hardwire slaving) then the machine would respect those limits instead of throwing a joint error. Also If I had it this way, the soft limits would be in place... which is nice for jogging around. Would You like trying to assign 2 joints to 1 axis the hardcore way right in kinematics module? I start thinking that there is only one way to find out, if changing kinematics module will help. To do so, You will need: 1) linuxcnc-dev package installed; 2) install git packages and get source code; see first 2 commands here: http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Installing_EMC2#Getting_the_source_with_git I would suggest replacing emc2 with linuxcnc for the second command; 3) in the folder with source code: go to ~/src/emc/kinematics/ open trivkins.c and save with name of Your choice (afterwards I will assume it to be called mykins.c, update the commands in steps 4 and 5 to reflect the actual name); 4) now edit that file to assign joint[3] to X for that You will need to free joint[3] from A axis, so remove this line: pos-a = joints[3]; and assign it to X by changing this line: joints[3] = pos-a; to this one: joints[3] = pos-tran.x; 5) replace trivkins with mykins in both places - first line and 9th line from bottom, otherwise next step will cause errors; 6) install the new kinematics module by running in terminal: cd linuxcnc-dev/src/emc/kinematics sudo comp --install mykins.c 7) adjust HAL file to load the new kinematics module; -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
Viesturs, I'll grab the code and give it a try. So is Gantrykins just a trivkins that someone compiled for those changes? On Tue, May 29, 2012 at 9:06 AM, Viesturs Lācis viesturs.la...@gmail.comwrote: 2012/5/29 Bryce Johnson sie...@gmail.com: If I remember correctly on my previous machine (3axis 3 motors), even if the jog speed was high, it would get limited by the axis speed in the ini. This was nice so I could jog my x and y at high speed and then my z was limited. If on my new machine (XYZX) if I set it up the same way (hardwire slaving) then the machine would respect those limits instead of throwing a joint error. Also If I had it this way, the soft limits would be in place... which is nice for jogging around. Would You like trying to assign 2 joints to 1 axis the hardcore way right in kinematics module? I start thinking that there is only one way to find out, if changing kinematics module will help. To do so, You will need: 1) linuxcnc-dev package installed; 2) install git packages and get source code; see first 2 commands here: http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Installing_EMC2#Getting_the_source_with_git I would suggest replacing emc2 with linuxcnc for the second command; 3) in the folder with source code: go to ~/src/emc/kinematics/ open trivkins.c and save with name of Your choice (afterwards I will assume it to be called mykins.c, update the commands in steps 4 and 5 to reflect the actual name); 4) now edit that file to assign joint[3] to X for that You will need to free joint[3] from A axis, so remove this line: pos-a = joints[3]; and assign it to X by changing this line: joints[3] = pos-a; to this one: joints[3] = pos-tran.x; 5) replace trivkins with mykins in both places - first line and 9th line from bottom, otherwise next step will cause errors; 6) install the new kinematics module by running in terminal: cd linuxcnc-dev/src/emc/kinematics sudo comp --install mykins.c 7) adjust HAL file to load the new kinematics module; -- * Viesturs* If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
2012/5/29 Bryce Johnson sie...@gmail.com: Viesturs, I'll grab the code and give it a try. So is Gantrykins just a trivkins that someone compiled for those changes? Oh, no, far from it! Gantrykins allows any combination. You can assign 5 joints to 1 axis, if You want. It is generalised, so that user can define particular case, but that also is why it is hard for me to understand that code. Take a look around those modules, once You have the code. Another possible place of interest might be /src/hal/components directory. It is where source for realtime HAL components is located. If You ever need/want to create some custom HAL component, this is the place to look for a place to start. The procedure for customizing them is the same as for kinematics modules - take one starting file, save with different name, edit (do not forget to replace the name inside the file) and in terminal cd to that directory and install with sudo comp. And adjust HAL files, of course. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
On 28 May 2012 20:34, Bryce Johnson sie...@gmail.com wrote: I am using gantrykins with XYZX. I am trying to set up my limits for for speed on my Z axis of 180ipm. In joint mode, jogging around, it seems to obey this. When I switch to world it doesn't listen to that limit anymore Playing with the gantry sim it seems that your observations are correct. The axis MAX_VELOCITY INI file options are ignored in World Mode. This does seem a little unexpected. However, I have been playing around with the Gantry sim and it does appear that only the [TRAJ] limit is considered when in World mode, with no means to limit the joint velocities. I think that your intention to simply link the axes together has merit. It is simple to connect the output of one stepgen to two sets of parport pins. -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
That is true, but then I will lose the ability to square off my gantry when I do homing. I suppose what I could open an linuxcnc with one ini in joint mode. Close that down and open my slaved one up and home it again in place. On Tue, May 29, 2012 at 1:11 PM, andy pugh bodge...@gmail.com wrote: On 28 May 2012 20:34, Bryce Johnson sie...@gmail.com wrote: I am using gantrykins with XYZX. I am trying to set up my limits for for speed on my Z axis of 180ipm. In joint mode, jogging around, it seems to obey this. When I switch to world it doesn't listen to that limit anymore Playing with the gantry sim it seems that your observations are correct. The axis MAX_VELOCITY INI file options are ignored in World Mode. This does seem a little unexpected. However, I have been playing around with the Gantry sim and it does appear that only the [TRAJ] limit is considered when in World mode, with no means to limit the joint velocities. I think that your intention to simply link the axes together has merit. It is simple to connect the output of one stepgen to two sets of parport pins. -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
On 29 May 2012 19:45, Bryce Johnson sie...@gmail.com wrote: That is true, but then I will lose the ability to square off my gantry when I do homing. You could just unpower the drives with F2 and push to end-stops. I imagine (with no evidence) that the JA3 branch of LinuxCNC (which attempts to de-couple joints and axes) handles axis velocity limits rather better. -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
2012/5/29 Bryce Johnson sie...@gmail.com: That is true, but then I will lose the ability to square off my gantry when I do homing. I suppose what I could open an linuxcnc with one ini in joint mode. Close that down and open my slaved one up and home it again in place. And how will You ensure that machine does not lose position, when LinuxCNC window is closed? I once tried to switch a joint from one axis to another in HAL - so that it was independent, when homing and then slave it with a vcp button. Did not work out, because after homing it does reset joint position, but it does not reset motor position, so some offset is there. I could have created a HAL module to take care of that, but I preferred fixing the cause instead of fighting consequences. But You could disconnect one joint in HAL: 1) home X with the slaved joint connected to a homing switch in slave end of the gantry (so that the gantry does not get racked more than it would be at that moment), 2) then disconnect the slaved joint 3) and rehome to a homing switch on master end of gantry (and square the gantry out). For that You would need to slave the joint in HAL - route x-step and x-dir signal each to 2 LPT pins. Connecting/disconnecting can be done with mux2 component - route step signals to slave joint through mux2 component (set the other input pin to be 0 with setp command). If no step pulses are issued to stepper drive, it will hold the position. But You will need to customize mux2 to have bit pins on both inputs and output. And use the same mux2 to select, which home switch - on master or slave end - is connected to axis.0.home-sw-in. And drive both mux2.sel pins with the same button in vcp, so that they are switched together. But I would like to see, if that fiddle with kinematics modules does help or no. If it works, then it would be most convenient to use. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
andy pugh wrote: Playing with the gantry sim it seems that your observations are correct. The axis MAX_VELOCITY INI file options are ignored in World Mode. This has been reported sporadically for some time, maybe at least a year. This does seem a little unexpected. However, I have been playing around with the Gantry sim and it does appear that only the [TRAJ] limit is considered when in World mode, with no means to limit the joint velocities. I think that your intention to simply link the axes together has merit. It is simple to connect the output of one stepgen to two sets of parport pins. Jon -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
Bryce Johnson wrote: That is true, but then I will lose the ability to square off my gantry when I do homing. I suppose what I could open an linuxcnc with one ini in joint mode. Close that down and open my slaved one up and home it again in place. Horrors! No, there are other ways to do this. A scheme I dreamed up, but haven't tried is this. When the home command is given, both motors are given identical step rates toward the home position. When the first motor trips the home switch, the step pulses are interrupted to that motor. When the second home switch is tripped, everything is re-enabled. LinuxCNC is only told there is one axis, and the home switch input is shown to it when both switches are tripped. That is done with the OR2 hal component. Gating the steps to the two drives is a little more complicated, but standard HAL components should be able to do it. Jon -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
On 28 May 2012 20:34, Bryce Johnson sie...@gmail.com wrote: It seems like I lose some flexibility when using gantrykins vs just slaving the drives together (although I would like to be able to home both X1 and X2 independently). Is there a way to home the drives and then run it as if they were slaved? Not that I know of. Though I think it is possible to automatically switch to world mode when homed. I am surprised that it will try to drive a joint faster than the max velocity for that joint though. atom boards to improve the stepping, or should I get one of those mesa cards I keep seeing you guys use (like 5i25? at $90 that would be as cheap as a atom board). Could I plug that directly into my C10 breakout board from keling (http://www.kelinginc.com/c10.pdf)? I think it will probably plug straight in with the correct firmware loaded. It gives you much more than a swap to an Atom board. An Atom board will give you 4x the current step rate, a 5i25 will give you nearer 400x. You don't need 400x, but there is an advantage in the much lower step rate granularity. There is a daughter-board for the 5i25 (7i76) which does a lot more than a simple BoB, but that requires a different firmware on the 5i25. It can be changed, but it is akin to a BIOS flash, so is some effort (and I don't think the Linux version of the utility is ready yet) -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
On Mon, 28 May 2012, andy pugh wrote: Date: Mon, 28 May 2012 20:55:47 +0100 From: andy pugh bodge...@gmail.com Reply-To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Subject: Re: [Emc-users] Question with gantry setup snip--- There is a daughter-board for the 5i25 (7i76) which does a lot more than a simple BoB, but that requires a different firmware on the 5i25. It can be changed, but it is akin to a BIOS flash, so is some effort (and I don't think the Linux version of the utility is ready yet) Actually the 5I25 flash utility is available (thanks Micha Geszkiewicz!), just not committed to LinuxCNC yet. Its in the current 5i25.zip file, as are updated 5i25 configs. Probably a C10 config is no big deal I would just need to know when inputs and outputs are, and if there is a chargepump, preferred step/dir pins etc -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Question with gantry setup
On 28 May 2012 22:08, Peter C. Wallace p...@mesanet.com wrote: Probably a C10 config is no big deal I would just need to know when inputs and outputs are, and if there is a chargepump, preferred step/dir pins etc It looks to be an uncommitted breakout, so the physical wires could be arranged to suit the firmware. -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
