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
Many thanks for answer Andy. Perhaps I have misunderstood you and have taken
the citation out of context, I at all did not want to offend you. Allow please
some more questions:
Why do you consider it wrong
net Ppos-fb axis.3.motor-pos-fb => pid.3.feedback
After all for four independent axes it works.
Yes, I have connected the Npos-fb signals to encoders:
linksp Ppos-fb <= motenc.0.enc-03-position.
What in your opinion it is necessary to make changes in my hal file
Excuse me for my dullness and my English, but I have tried everything unless to
recolour in other colour milling mashine did not try))
Thanks,Andrey
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