Gene wrote... <<<<<<<<Yes, I never did get Axis A to work in the simulator last week when I was trying to help Ian Wright. But it seemed as if the displayed position was some random value about 3 digits to the right of the decimal point. Invisible motion, and following errors were all I could get out of it.>>>>>>>
My A axis seems to work OK - I can run my script (as far as it goes so far) and the displayed position and the apparent position of the work appear to be right. There is one thing which really bugs me though and that is that neither the A or the Z will home or touch off to zero - always stick at some other value which doesn't seem to be random but which I also can't rationalise from any of the files I've looked at. The only way I can get the axes to display zeros before I run the script is to do a G92 in the MDI.... If its of any use to you Gene, here is my ini file for the 4 axes. I haven't got the home switches programmed in yet as I got my brain in a mess trying to sort them out when I first set this up. Now I need to go and get my brain out of the mess of do....while loops its stuck in in this d*mn script - I WILL get it right (6 days and counting....)! ############################################################################### # General section ############################################################################### [EMC] #- Version of this INI file VERSION = $Revision: 1.7.2.3 $ #+ Name of machine, for use with display, etc. MACHINE = EMC-HAL-STEP-XYZA-MM #- Name of NML file to use, default is configs/common/emc.nml NML_FILE = emc.nml #+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others DEBUG = 0 # DEBUG = 0x00000007 # DEBUG = 0x7FFFFFFF ############################################################################### # Sections for display options ############################################################################### [DISPLAY] #+ Name of display program, e.g., xemc DISPLAY = axis # DISPLAY = usrmot # DISPLAY = mini # DISPLAY = tkemc # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.100 #- Path to help file HELP_FILE = doc/help.txt #- Initial display setting for position, RELATIVE or MACHINE POSITION_OFFSET = RELATIVE #- Initial display setting for position, COMMANDED or ACTUAL POSITION_FEEDBACK = ACTUAL #+ Highest value that will be allowed for feed override, 1.0 = 100% MAX_FEED_OVERRIDE = 9.0 #- Prefix to be used PROGRAM_PREFIX = /home/ian/emc2/nc_files #- Introductory graphic INTRO_GRAPHIC = emc2.gif INTRO_TIME = 3 ############################################################################### # Task controller section ############################################################################### [TASK] #- Name of task controller program, e.g., bridgeporttask TASK = milltask # TASK = minimilltask #- Cycle time, in seconds, that task controller will sleep between polls CYCLE_TIME = 0.007 ############################################################################### # Part program interpreter section ############################################################################### [RS274NGC] #- File containing interpreter variables PARAMETER_FILE = stepper.var ############################################################################### # Motion control section ############################################################################### [EMCMOT] #- Name of the motion controller to use (only one exists for nontrivkins) EMCMOT = motmod #- Key for real OS shared memory, e.g., for simulated motion SHMEM_KEY = 111 #- Timeout for comm to emcmot, in seconds COMM_TIMEOUT = 1.0 #- Interval between tries to emcmot, in seconds COMM_WAIT = 0.010 #+ Base task period, in nanosecs - this is the fastest thread in the machine BASE_PERIOD = 40000 #- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD SERVO_PERIOD = 1000000 #- Trajectory Planner task period, in nanosecs - will be rounded to an # integer multiple of SERVO_PERIOD TRAJ_PERIOD = 5000000 ############################################################################### # Hardware Abstraction Layer section ############################################################################### [HAL] # The run script first uses halcmd to execute any HALFILE # files, and then to execute any individual HALCMD commands. # # list of hal config files to run through halcmd #+ files are executed in the order in which they appear HALFILE = stepper_xyza.hal #HALFILE = xylotex_pinout.hal HALFILE = standard_pinout.hal #- list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta ############################################################################### # Trajectory planner section ############################################################################### [TRAJ] #+ machine specific settings STEPGEN_MAXACCEL = 396.0 AXES = 4 # COORDINATES = X Y Z R P W COORDINATES = X Y Z A HOME = 0 0 0 0 LINEAR_UNITS = metric ANGULAR_UNITS = degree CYCLE_TIME = 0.007 DEFAULT_VELOCITY = 3 DEFAULT_ANGULAR_VELOCITY = 20 MAX_VELOCITY = 5 MAX_ANGULAR_VELOCITY = 20.5 DEFAULT_ACCELERATION = 3 MAX_ACCELERATION = 4 ############################################################################### # Axes sections ############################################################################### #+ First axis [AXIS_0] TYPE = LINEAR HOME = 0 MAX_VELOCITY = 5 # NOTE: the step generator module applies its own limits to # acceleration and velocity. We have discovered that it needs # to have a little "headroom" over the accel by the trajectory # planner, otherwise it can fall slightly behind during accel # and later overshoot as it catches up. In the long term we # hope to come up with a clean fix for this problem. In the # meantime, please set STEPGEN_MAXACCEL below to a few percent # higher than the regular acceleration limit MAX_ACCELERATION = 3 STEPGEN_MAXVEL = 10 STEPGEN_MAXACCEL = 5 BACKLASH = 0.000 INPUT_SCALE = 400 OUTPUT_SCALE = 1.000 MIN_LIMIT = -200.00 MAX_LIMIT = 120.0 FERROR = 0.80 MIN_FERROR = 0.10 HOME_OFFSET = 0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO #+ Second axis [AXIS_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 2.5 MAX_ACCELERATION = 2 STEPGEN_MAXVEL = 3.20 STEPGEN_MAXACCEL = 2 BACKLASH = 0.000 INPUT_SCALE = -400 OUTPUT_SCALE = 1.000 MIN_LIMIT = -20.0 MAX_LIMIT = 90.0 FERROR = 1 MIN_FERROR = 0.2 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO #+ Third axis [AXIS_2] TYPE = LINEAR HOME = 0 MAX_VELOCITY = 3 MAX_ACCELERATION = 2 STEPGEN_MAXVEL = 5 STEPGEN_MAXACCEL = 5 BACKLASH = 0.000 INPUT_SCALE = -400 OUTPUT_SCALE = 1.000 MIN_LIMIT = -90.0 MAX_LIMIT = 90.0 FERROR = 0.700 MIN_FERROR = 0.20 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO #+ Fourth axis [AXIS_3] TYPE = ANGULAR HOME = 0.0 MAX_VELOCITY = 8.0 MAX_ACCELERATION = 8.0 STEPGEN_MAXVEL = 20.5 STEPGEN_MAXACCEL = 39.0 BACKLASH = 0.000 INPUT_SCALE = 50 OUTPUT_SCALE = 1.000 MIN_LIMIT = -360000.0 MAX_LIMIT = 360000.0 FERROR = 5.0 MIN_FERROR = 1.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO ############################################################################### # section for main IO controller parameters ############################################################################### [EMCIO] #- Name of IO controller program, e.g., io EMCIO = io #- cycle time, in seconds CYCLE_TIME = 0.080 #- tool table file TOOL_TABLE = stepper.tbl -- Best wishes, Ian ____________ Ian W. Wright Sheffield UK "The difference between theory and practice is much smaller in theory than in practice..." ------------------------------------------------------------------------- This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now >> http://get.splunk.com/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
