On Sat, 17 Aug 2019, Frank Tkalcevic wrote:
Date: Sat, 17 Aug 2019 13:33:53 +1000
From: Frank Tkalcevic <[email protected]>
Reply-To: "Enhanced Machine Controller (EMC)"
<[email protected]>
To: "'Enhanced Machine Controller (EMC)'" <[email protected]>
Subject: Re: [Emc-users] Homing following error (was PID feed forward)
(this is my 3rd attempt to send this - without the halscope data files)
Could you zoom up on the falling edge of index-enable (to 1ms/div)?
My threads are...
# ################################################
# THREADS
# ################################################
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf pid.3.do-pid-calcs servo-thread
addf pid.4.do-pid-calcs servo-thread
addf pid.5.do-pid-calcs servo-thread
addf limit1.0 servo-thread
addf and2.0 servo-thread
addf not.0 servo-thread
addf debounce.0 servo-thread
setp debounce.0.delay 10
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
Index enable is set...
net x-index-enable <= joint.0.index-enable
net x-index-enable => hm2_[HOSTMOT2](BOARD).0.encoder.05.index-enable
net x-index-enable => pid.0.index-enable
Attached are the scope screen shot, scope data, and error message- I added
some more debug to emc/motion/control.c to show the values that caused the
error. (scope1.png,halscope1.zip,scope1.txt).
There is also a second run showing the joint position information and ferror
(scope2.png,halscope2.zip,scope2.txt).
Thanks,
Frank
-----Original Message-----
From: Peter C. Wallace [mailto:[email protected]]
Sent: Saturday, 17 August 2019 3:16 AM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] Homing following error (was PID feed forward)
On Fri, 16 Aug 2019, Les Newell wrote:
Date: Fri, 16 Aug 2019 17:18:01 +0100
From: Les Newell <[email protected]>
Reply-To: "Enhanced Machine Controller (EMC)"
<[email protected]>
To: [email protected]
Subject: Re: [Emc-users] Homing following error (was PID feed forward)
I think it is same issue as you. I'm still getting following errors on
homing
even though command-deriv is unconnected. It does depend rather on where
the
machine was before it started homing.
Les
Are you threads in the order:
hardware read
...
motion
...
pid
...
hardware write ?
Is index enable connected to the PID component?
If these are both correct and you get this error, could you plot
commanded-position
feedback-position
index-enable
PID output
in HALScope (trigger on index-enable falling edge)
when homing the first time?
I am seeing this on one of my axis, after upgrading from 2.5 to master.
It moves to the home switch, turns around to find the encoder index
pulse,
and after it finds the index, it faults with a following error - this
only
happens when I start Linuxcnc, ie when machine home isn't known. If I
home
all again, it works fine.
This only happens on my regular axis, the other 2 are gantry pairs, which
don't fault.
I had FF1 set and command-deriv unconnected and it faults. Setting all
FF
settings to 0 still faults. If I connect the encoder velocity (from
5i20)
to command-deriv - it faults when I jog - the velocity coming out of the
pin
is very noisy.
Is this the same problem?
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_______________________________________________
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Peter Wallace
Mesa Electronics
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_______________________________________________
Emc-users mailing list
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Peter Wallace
Mesa Electronics
(\__/)
(='.'=) This is Bunny. Copy and paste bunny into your
(")_(") signature to help him gain world domination.
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