Date: Wed, 28 Oct 2009 16:38:58 -0700 (PDT) From: "Peter C. Wallace" <[email protected]> Subject: Re: [Emc-users] Following Error To: "Enhanced Machine Controller (EMC)" <[email protected]> Message-ID: <[email protected]> Content-Type: TEXT/PLAIN; charset=US-ASCII; format=flowed
On Wed, 28 Oct 2009, Dave Camarillo wrote: > Date: Wed, 28 Oct 2009 13:59:47 -0700 > From: Dave Camarillo <[email protected]> > Reply-To: "Enhanced Machine Controller (EMC)" > <[email protected]> > To: [email protected] > Subject: [Emc-users] Following Error > > I've been in the process of setting up a new machine and have been > running into a "Following Error" while jogging and while running > g-code. After doing some experimentation with the FERROR and > MIN_FERROR variables, and reproducing the situation with the halscope > running, I think I have an understanding of the nature of the issue, > but am not sure what to do about it... > > Details are as follows: > > -Setting the MIN_FERROR=0.001 and FERROR=0.020 to make it easier to > reproduce the problem. It also occurs at FERROR=0.050 and > MIN_FERROR=0.005 > -Setting jog velocity to 60ipm > -Setting MAX_VELOCITY=3, MAX_ACCELERATION=10 > > -Press the jog button for second, release the jog button for a second. > You can jog all day long just fine. > -Press the jog button for a second, release the jog button, and > quickly re-press the jog button, tirggers a "following error" > -Reproducing this while looking at the HAL scope, I have the hal-scope > triggering on f-errored, and probing velocity-fb, pos-cmd, pos-fb and > f-error > --In looking at the scope, I do infact see the f-error trace ramp up > above the 0.001 threshold, correctly triggering the following error > --In looking at the velocity-fb trace however, I see that the f-error > ramps up (or down) from zero during the deceleration phase of the > motter after the jog button has been released, then once the motor > velocity is at zero the f-error trace snaps back to zero. (This > doesn't seem quite right to me...) > > My hypothesis is that if I press the jog button again during the > deceleration phase of a previous jog, and the f-error has accumulated, > it's exceeding the FERROR threshold and triggering the "following > error". > > Also note, this does happen during executing of G-Code as well... > > A little extra info: > -using EMC 2.3.4-pre > -using a Meas 4i65 card with hostmot2 for stepper motor controls, all > open loop for this testing setup > > > I'm not sure what to do about this? > -I can of course set the FERROR and MIN_FERROR higher, but it seems > like 0.005 is a reasonable number. > -Should I be setting up the HAL file in a different way? > > > Thoughts? > > > Thanks, > -Dave Can you post your HAL file and HALScope screenshots somewhere so people can get a look at them? Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your (")_(") signature to help him gain world domination. Hi Peter, I've posted the config files and the halscope capture log, but was not able to re-generate the halscope screen output for capture as the 'open data file' menu item doesn't appear to be working??? Anyway, the raw log data is in the halscope2.log, and the configs are pretty simple... Any ideas??? http://www.dc-tech-llc.com/4i65.ini http://www.dc-tech-llc.com/hm2-stepper.hal http://www.dc-tech-llc.com/halscope2.log Thoughts? Thanks, -Dave ------------------------------------------------------------------------------ Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
