On Fri, 2011-10-14 at 15:43 -0400, Dave wrote: ... snip > The limit3 function is a very useful function. I have it running 3 > axis on one machine at high speeds.
I got it to work. http://www.wallacecompany.com/machine_shop/Shizuoka/Carousel_Overview-1a.png limit3 doesn't really work the way I would think a limit function would work, but it supplies just what I need very well. It took me way too many hours of tuning to figure out just what HALscope was showing me, that being the motor coupler was loose. After tightening it, it worked much better. I was expecting to need a hardware PWM generator, but the software generator works well. I have a Pluto-P PWM servo channel running my spindle, so I'll probably use another for the carousel as other things get sorted out. My encoder is from a broken Epson C80 printer. It has 4320 pulses per revolution but no index. I don't always need an index, so I should look for more C80's in my pile out back before it rains again. Free is good. Homing will need to be worked out, or I could rig up an absolute encoder. I found that if I "setp encoder.0.reset 1", the carousel starts rotating until I get it set back to 0, and of course the home position is then lost. I suppose the procedure is to move the carousel to the home position, disable the PWM output, then set and reset encoder.0.reset, ensure the position command is 0, then enable the PWM output. I seem to need to figure this stuff out the hard way. I need to work more on parameters for setting gain and scales to make sure I don't saturate or not leave any bandwidth unused from each element in the chain (limit3, PID, PWMgen). Next I'll need to get the T numbers mapped to the encoder positions and get the gripper to work. Thanks everyone for the help. I'll get a video of the carousel when I get the camera figured out. -- Kirk Wallace http://www.wallacecompany.com/machine_shop/ http://www.wallacecompany.com/E45/index.html California, USA ------------------------------------------------------------------------------ All the data continuously generated in your IT infrastructure contains a definitive record of customers, application performance, security threats, fraudulent activity and more. Splunk takes this data and makes sense of it. Business sense. IT sense. Common sense. http://p.sf.net/sfu/splunk-d2d-oct _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
