On 23 July 2010 18:35, Andrey <stormbringe...@mail.ru> wrote: > > > 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
I don't remember when I said that, but I was just describing how to slave two axes together _without_ using gantrykins. You are using gantrykins (a better solution) so need to do things differently. > * 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 This looks wrong to me. Both pid.N.feedback and axis.N.motor-pos-feedback are inputs. Unless you have connected the Npos-fb signals to encoders somewhere else in the HAL then you will always get following errors. > 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 You defined joints 1 and 3 to be both connected to axis 1 in the gantrykins config at the top, so this should probably read: net Xpos-cmd axis.0.motor-pos-cmd => pid.0.command net Y1pos-cmd axis.1.motor-pos-cmd => pid.1.command net Y2pos-cmd axis.3.motor-pos-cmd => pid.3.command net Zpos-cmd axis.2.motor-pos-cmd => pid.2.command One source of confusion is that when "motion" creates a pin called "axis......" it generally means "joint...." (as I understand it, I am by no means immune to the confusion myself) -- atp ------------------------------------------------------------------------------ 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
