On 03/20/2018 03:13 PM, andy pugh wrote:
On 20 March 2018 at 19:00, Mark <wendt.m...@gmail.com> wrote:
Managed to get some shop time today, and was working on the lincurve stuff.
Got most of the kinks worked out, as it now loads without error, but now
getting joint following errors as soon as I try to home the machine.
The step-change in X on homing is presumably causing a step-change in Z.
Given that your corrections are very small you can probably afford to
just make the f-error limits bigger than the correction.
Though if the offset component is set up correctly it should mask this
from the rest of the system.
So perhaps it is a function ordering issue.
I can try changing the following error in the ini file. Currently
FERROR = 0.05 and MIN_FERROR = 0.01. I can experiment with those
adjusting to largernumbers.
The only new addf's are in the lin_curve.hal file and are addf
lincurve.0 servo-thread and addf lincurve.0 servo-thread. I could swap
those around. Is that what you mean? I would presume you can't do a
specific addf prior to doing a loadrt of the component though, so moving
the addf's to the main hal file would probably require the loadrt's be
moved there also and in place before the addf's are listed?
Here's the loadrt's and addf's at the front of the main HAL file:
############################
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD
servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hal_parport cfg="0xec00 out 0e000 in"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd <= motion.spindle-speed-out
############################
Would I bring the loadrt's and addf's from the lin_curve.hal file and
place them here? Not sure what particular order would be required here
though. Here's the extent of it in lin_curve.hal:
#####################
loadrt lincurve personality=16
loadrt offset
addf lincurve.0 servo-thread
addf offset.0.update-output servo-thread
######################
Mark
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