Hello, gentlemen! I need a little help understanding, what is wrong with the HAL config. Some background info: Machine with 2 spindles (one moved by XY, the other - by UV) and stepper motors, running EMC2.4.6
Machine has to be able to move each spindle independently, but vast majority of parts involve the same exact movements of both spindles. Since UV plane does not support G2/G3 movements and splitting arcs in small linear segments slows the actual feedrate below acceptable values (the tool burns the wooden material), I came up with a plan to assign stepgens of both joints of the second spindle from UV to XY in HAL. That looks like this: In main HAL file: # mux2 components for synchronizing both spindles loadrt mux2 count=4 addf mux2.0 servo-thread addf mux2.1 servo-thread addf mux2.2 servo-thread addf mux2.3 servo-thread # X position command and feedback net emcmot.00.pos-cmd <= axis.0.motor-pos-cmd net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd mux2.0.in1 # Y position command and feedback net emcmot.01.pos-cmd <= axis.1.motor-pos-cmd net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd mux2.1.in1 # U position command and feedback # mux2.0 routes commanded position for joint 6 # mux2.2 routes position feedback for joint 6 net emcmot.02.pos-cmd <= axis.6.motor-pos-cmd net emcmot.02.pos-cmd => mux2.0.in0 mux2.2.in1 net sync-x-out mux2.0.out => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd net motor.06.pos-fb-in mux2.2.in0 <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb net motor.06.pos-fb-out mux2.2.out => axis.6.motor-pos-fb # V position command and feedback # mux2.1 routes commanded position for joint 7 # mux2.3 routes position feedback for joint 7 net emcmot.03.pos-cmd <= axis.7.motor-pos-cmd net emcmot.03.pos-cmd => mux2.1.in0 mux2.3.in1 net y-sync-out mux2.1.out => hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-cmd net motor.07.pos-fb-in mux2.3.in0 <= hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-fb net motor.07.pos-fb-out mux2.3.out => axis.7.motor-pos-fb In Postgui_halfile: net sync-sel pyvcp.sync => mux2.0.sel mux2.1.sel mux2.2.sel mux2.3.sel There is a checkbox widget in pyvcp panel, which enables assigning joint 6 and 7 stepgens to X and Y. The problem: 1) When EMC is started up and all joints are homed, all the coordinates are at 0.000 point. 2) When pyvcp button is enabled, all coordinates stay at 0.000 point, but joint6 moves ~0.3mm and joint 7 also moves, but less than 0.1 mm. 3) When pyvcp button is disabled, U and V coordinates change to values, which approximately matches the amount joints 6 and 7moved in previous step, which tells me that the problem is in EMC config. Can anyone suggest me, where should I look for those 2 small jumps? Ideal solution, which I am planning for in the future, is to do this in kinematics module, but I will not be able to get to that client for at least few days and I have to remotely get the machine working normally. Viesturs ------------------------------------------------------------------------------ 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
