Hi everybody! For gantry milling mashine it is necessary to synchronize two
motors on one axis. Andy Pugh wrote:"If you really want to just "slave" one
axis to another, you could try :"
net Xpos-cmd axis.0.motor-pos-cmd => pid.0.command
net Ypos-cmd axis.1.motor-pos-cmd => pid.1.command pid.3.command
net Zpos-cmd axis.2.motor-pos-cmd => pid.2.command
In core.hal file I have written the following
loadrt gantrykins
setp gantrykins.joint-0 0
setp gantrykins.joint-1 1
setp gantrykins.joint-2 2
setp gantrykins.joint-3 1
* motion controller, get name and thread periods from ini file
loadrt [EMCMOT] EMCMOT servo_period_nsec = [EMCMOT] SERVO_PERIOD num_joints =
[TRAJ] AXES
* PID module, for four PID loops
loadrt pid num_chan=4
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf pid.3.do-pid-calcs servo-thread
* connect position feedback
net Xpos-fb axis.0.motor-pos-fb => pid.0.feedback
net Ypos-fb axis.1.motor-pos-fb => pid.1.feedback
net Zpos-fb axis.2.motor-pos-fb => pid.2.feedback
net Ppos-fb axis.3.motor-pos-fb => pid.3.feedback
* create PID to DAC output signals
net Xoutput <= pid.0.output
net Youtput <= pid.1.output
net Zoutput <= pid.2.output
net Poutput <= pid.3.output
net Xpos-cmd axis.0.motor-pos-cmd => pid.0.command
net Ypos-cmd axis.1.motor-pos-cmd => pid.1.command pid.3.command
net Zpos-cmd axis.2.motor-pos-cmd => pid.2.command
At attempt to move Y axis, there is a following:the axis begins movement
then there is an error... JOINT 3 FOLLOWING ERROR...In window DRO different
indications for axes Y and P. Can you help me to solve this problem?
Thanks, Andrey
------------------------------------------------------------------------------
This SF.net email is sponsored by Sprint
What will you do first with EVO, the first 4G phone?
Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first
_______________________________________________
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users
