On Friday 20 October 2017 21:27:43 Gene Heskett wrote: > On Friday 20 October 2017 20:41:04 andy pugh wrote: > > On 20 October 2017 at 20:00, Gene Heskett <ghesk...@shentel.net> wrote:
What I saw while running it with halrun, is that its working fine. But I may have found the problem. Somehow, and I don't recall doing it, I have wound up trying to run all 3 steppers in both position, AND velocity modes. How I arrived at that shall remain a mystery, but probably by following man pages. Referring to the 750 page doc, since the docs for the 5i25 are totally mute of any operational configuration help, I find the docs say under hal components, stepgens: velocity-cmd (only for velocity mode) and position-cmd (only for position mode) That seems to be the only place where that restriction is mentioned. So now I need to go thru the .hal file and make it one or the other. For a 3 or 4 axis mill, is there a best way? I've always used position, but I can as I've learned, that there are also advantages to velocity, but do they actually exist w/o an encoder feedback, which is normally not done with steppers. I have gone thru the hal file in the last 4 or 5 days, and cleaned it up to be more logically readable, without actually changing anything, so here is that hookup stanza for Z: #************************************* # ---closedloop stepper signals for Z #************************************* net z-pos-cmd <= joint.2.motor-pos-cmd => pid.z.command net z-vel-cmd <= joint.2.vel-cmd => pid.z.command-deriv net z-pos-fb <= hm2_5i25.0.stepgen.02.position-fb => joint.2.motor-pos-fb pid.z.feedback net z-idx-ena <=> pid.z.index-enable net z-mtr-vel <= pid.z.output => hm2_5i25.0.stepgen.02.velocity-cmd net z-enable <= joint.2.amp-enable-out => hm2_5i25.0.stepgen.02.enable pid.z.enable This is what all 3 active axises look like. So which do I nuke out of the above to arrive at pure position, or pure velocity control? And what about line 2? The assumption seems to be, if following the description starting on page 655 of the doc.pdf, is all position mode, the velocity pins aren't even shown in the gfx on the next page. If the velocity mode has been added since that gfx was created, perhaps the gfx should also be updated to reflect that? In the meantime I am going to make it position only, just for S&G. With luck, this will fix it. Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) Genes Web page <http://geneslinuxbox.net:6309/gene> ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
