I am retrofitting old drilling and tapping machine. I decided to use one and only original servo driver for all three axes, which seemed quite interesting task for me.
I am almost done with it, but there are some troubles disturbing my mind. I created new hal component, called onedrive, which currently monitors: velocity command velocity feedback following error and controls: contactors pid.enable motion.hold, motion.feed-inhibit (will call this "hold") for all axes. What this component does is: turns hold signal when detects that new axis wants to move, waits for old axis to reach its position and stabilize, switches off power contactor and pid of old axis with delays switches on power contactor and pid of new axis with delays turns hold signal off It also warns or raises a fault when several axes wants to move at one time. Surprisingly to me, LinuxCNC: ignores these hold and inhibit signals when homing reaction to hold signal seems to be more than one or two servo periods and most importantly, it moves new axis while velocity command of old one is not 0 yet I tested it with setup, where arc blending TP is disabled and G-code, like: M53 P1 ; Enable feed stop control G61 ; Exact path mode ... G0 X10 G1 Y10 F500 ... etc. Used halscope for monitoring... Solutions? I found locking_indexer in INI file description, which looks similar to the thing I need, but it seems that such axis can't be jogged manually. I could use some inputs to select an axis prior to using it from G-code, of course, but this would not be so elegant from G-code point of view. Yes, it is possible to use G-code translator for that... But I have a hope to make it nicer. I could share my component and relevant parts of my setup, but would like to make it nice and reliable. ------------------------------------------------------------------------------ Don't Limit Your Business. Reach for the Cloud. GigeNET's Cloud Solutions provide you with the tools and support that you need to offload your IT needs and focus on growing your business. Configured For All Businesses. Start Your Cloud Today. https://www.gigenetcloud.com/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
