Backlash comp is added to the motion move. So - If you are accelerating
+ backlash comp - you could get 2X the acceleration for the duration of
backlash.
You want to have 2X the acceleration set in stepgen headroom. Seems to
work well. (steppers at that low rpm (aprox 0) have quite a bit of
extra torque. Normally doesn't seem to have problem with 2X your normal
acceleration. In this screen shot you can see the backlash is applied
during reversal. Following error is non-existent because I have 2X
acceleration in stepgen.
sam
On 06/23/2017 10:36 AM, Gene Heskett wrote:
On Friday 23 June 2017 07:00:17 andy pugh wrote:
On 23 June 2017 at 11:47, Gene Heskett <[email protected]> wrote:
but position is incrementing forever if fwd, decrementing forever in
reverse. So it appears the Index is being ignored if what I read
about how this works is true.
This is correct.
No need to setp index_enable to true in the HAL (but it does no harm,
and would be helpful if you were doing spindle-orient)
index_enable is only set true once at the beginning of each
spindle-synch move. Most of the time it sits at false and the
spindle-revs pin increases by 1.0 per rev.
By playing with the setp values for the near (named close-enough) module,
I now have its output, sent to spindle-at-speed, flicking on and and
off, off for a short time after changing speed. This has similar
inputs, currently scaled for 1st gear, rigged such that it should be
true once the motor has assumed the speed commanded, so it wouldn't be
sensitive to other than the load and slip angle that imply's. But, its
sensitive to the gear change, so getting the proper scaling when the
gear is changed is YTBD.
Now, to go and observe it to see if I've still missed something. I think
I have, but first a fresh printout so I can better track WTHeck I'm
doing. This hal file, from the examples, that I started with was less
than 150 LOC then, but is past 600 LOC now. The jogging additions are
around half of it. I had no clue when I started out to make those work,
that it was going to take that much hal code. But its working quite well
with excellent repeatability.
Another item I am fighting with is the following error, I've found that
it must bet set higher than the backlash else it errors on the backlash
moves, either axis. Should this be happening?
Cheers, Gene Heskett
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