Gentlemen, for a long time I was missing the familar singing or humming sound of stepper motors due to my using stepconfig - "test this axis" program for their setup. I learned that there are faults in it so the 5/4 beat can't be eliminated. Now I'm working with Axis, although it takes more time aunloading an reloading. Here are the values that had made me dance on the table (if there were any space left on any table). I used a regular default .ini file generated by stepconf to start with. Then I edited it until Axis produced an acceptable behaviour on my PCB drilling machine.
The basic values are: [EMCMOT] EMCMOT = motmod SHMEM_KEY = 111 COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 BASE_PERIOD = 120000 [TRAJ] AXES = 3 COORDINATES = X Y Z LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 500 MAX_LINEAR_VELOCITY = 1000.00 [AXIS_0] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 100.0 MAX_ACCELERATION = 300.0 STEPGEN_MAXACCEL = 325.0 SCALE = 20.0 FERROR = 1 MIN_FERROR = .25 MIN_LIMIT = -4000.0 MAX_LIMIT = 4000.0 HOME_OFFSET = 0.0 I chose a giant area between limits to guarantee no collision for model size. Most important were the changes I made in the .hal file: loadrt trivkins loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]SERVO_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES loadrt probe_parport loadrt hal_parport cfg="0x378" # setp parport.0.reset-time 50000 # the .reset lines were all commented out like Jeff Epler told me in Febr. loadrt stepgen step_type=0,0,0 addf parport.0.read base-thread addf stepgen.make-pulses base-thread addf parport.0.write base-thread addf parport.0.reset base-thread # this could also be commented out but is of # no meaning as long as not used (?) addf stepgen.capture-position servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf stepgen.update-freq servo-thread net estop-out => parport.0.pin-01-out net xstep => parport.0.pin-02-out # setp parport.0.pin-02-out-reset 1 net xdir => parport.0.pin-03-out net ystep => parport.0.pin-04-out # setp parport.0.pin-04-out-reset 1 net ydir => parport.0.pin-05-out net zstep => parport.0.pin-06-out # setp parport.0.pin-06-out-reset 1 net zdir => parport.0.pin-07-out net astep => parport.0.pin-08-out # setp parport.0.pin-08-out-reset 1 net adir => parport.0.pin-09-out setp stepgen.0.position-scale [AXIS_0]SCALE setp stepgen.0.steplen 200000 setp stepgen.0.stepspace 200000 setp stepgen.0.dirhold 215000 setp stepgen.0.dirsetup 215000 # the other axis' look likewise. With these values the motors run perfectly up to 2.2 kHz which is about the limit my little machine will tolerate (it takes 10 steps/mm, direct gear belt driven). The pulse time at max.speed is about 1/2 cycle which my driver board likes best. BTW: I had to learn that, even if in a hurry, all the parport pins, even the unused ones, have to taken care of. Today, I spent half a day sleuthing after a miraculous limit error on all axis'...;-))) because the default is "both limit switches" and the current limiting resistors of my LED test plug gave them ground potential. Thank you all for the help and patience you gave me those weeks. Now I can finally go on with what I actually wanted! Best regards Peter Blodow ------------------------------------------------------------------------------ This SF.net email is sponsored by: High Quality Requirements in a Collaborative Environment. Download a free trial of Rational Requirements Composer Now! http://p.sf.net/sfu/www-ibm-com _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
