Hi,
I've got an interesting problem with my software-stepping desktop mill.
It works fine if I move one or two axis at the same time. But if I move 3 axis
at
the same time, the Z axis (which is the slowest) gains additional steps when it
accelerates.
I notice that the stepper motor makes strange noises while doing this.
So the Z axis will end up traveling about 0.1mm more than programmed.
The additional steps only happen at acceleration time. After the joint
accelerated to full
speed it runs smoothly.
It only happens if all three axis move at the same time.
I first suspected electrical interference in the parport signals or something
like that.
But if X and Y would interfere with Z signals, I'd expect that the Z axis does
also move
randomly when only X and Y are supposed to move. But it doesn't. Z is only
doing additional
steps when moving all axis at the same time and it only happens when
accelerating.
I already tried to reduce the acceleration speed, but it didn't help much. It
reduced it
by a certain amount, but it's still there.
Does somebody have an advice on how to debug this?
--
Greetings, Michael.
[EMC]
MACHINE = proxxon
NML_FILE = emc.nml
DEBUG = 0
[DISPLAY]
DISPLAY = axis
EDITOR = gvim
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
#INTRO_GRAPHIC = emc2.gif
#INTRO_TIME = 5
PROGRAM_PREFIX = /home/mb/emc2/nc_files
INCREMENTS = 0.1mm 0.05mm 0.01mm 0.005mm 0.001mm
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
[RS274NGC]
PARAMETER_FILE = emc.var
RS274NGC_STARTUP_CODE = G17 G21 G40 G49 G80 G90 G94
[EMCMOT]
EMCMOT = motmod
SHMEM_KEY = 111
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 20000
SERVO_PERIOD = 1000000
[HAL]
HALFILE = proxxon.hal
POSTGUI_HALFILE = postgui.hal
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.001
DEFAULT_VELOCITY = 1.50
MAX_LINEAR_VELOCITY = 100
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[AXIS_0]
TYPE = LINEAR
HOME = -80
MAX_VELOCITY = 6.0
MAX_ACCELERATION = 10.0
STEPGEN_MAXACCEL = 15
SCALE = 3333.33333333
FERROR = 0.100
MIN_FERROR = 0.010
MIN_LIMIT = -167
MAX_LIMIT = 1
HOME_OFFSET = -165
HOME_SEARCH_VEL = -4.0
HOME_LATCH_VEL = -0.4
HOME_IGNORE_LIMITS = NO
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
COMP_FILE = x.comp
COMP_FILE_TYPE = 0
[AXIS_1]
TYPE = LINEAR
HOME = -30
MAX_VELOCITY = 6.0
MAX_ACCELERATION = 10.0
STEPGEN_MAXACCEL = 15
SCALE = 3333.33333333
FERROR = 0.100
MIN_FERROR = 0.010
MIN_LIMIT = -62
MAX_LIMIT = 1
HOME_OFFSET = 0
HOME_SEARCH_VEL = 4.0
HOME_LATCH_VEL = 0.4
HOME_IGNORE_LIMITS = NO
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
COMP_FILE = y.comp
COMP_FILE_TYPE = 0
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 2.5
MAX_ACCELERATION = 5
STEPGEN_MAXACCEL = 10
SCALE = 5000.0
FERROR = 0.100
MIN_FERROR = 0.010
MIN_LIMIT = -350
MAX_LIMIT = 12
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 2.5
HOME_LATCH_VEL = 0.4
HOME_IGNORE_LIMITS = NO
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
COMP_FILE = z.comp
COMP_FILE_TYPE = 0
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