On Wednesday 28 August 2019 20:24:42 John Dammeyer wrote: > I've finally had some time to get back to the CNC upgrade and I copied > the test machine config folder to the Mill PC. Once I got the correct > parallel port cable straightened around to actually not fault on Limit > switches the jog buttons created motion. > > I can report that the Y axis behaved really badly with shuddering > during the first part of higher speed motion when MAX_ACCELERATION = > 15.0 > # The values below should be 25% larger than MAX_VELOCITY and > MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL > should be 100% larger. STEPGEN_MAXVEL = 2.5 > STEPGEN_MAXACCEL = 18.75 > > I changed the values to match the Parallel port version > MAX_ACCELERATION = 15.0 > STEPGEN_MAXACCEL = 35.0 > > And motion went back to nice and smooth. Initial testing didn't have > backlash compensation uncommented. > > ============================================================ > Now a new problem or not so much a problem but I can't figure out how > to fix it and it's probably right in front of my nose. > > The Z axis is a knee, not a quill and on the 7i92H the knee is now > going in the wrong direction. On the parallel port version I have > this invert 1 in the hal file to make the knee go in the correct > direction. > > net zstep => parport.0.pin-06-out > setp parport.0.pin-06-out-reset 1 > setp parport.0.pin-07-out-invert 1 remove the above line, or set it false > net zdir => parport.0.pin-07-out > > I can't see anything in the 7i92H hal that would invert the direction > signal out to the stepper driver. What am I missing? > #******************* > # AXIS Z > #******************* > setp pid.z.Pgain [AXIS_2]P > setp pid.z.Igain [AXIS_2]I > setp pid.z.Dgain [AXIS_2]D > setp pid.z.bias [AXIS_2]BIAS > setp pid.z.FF0 [AXIS_2]FF0 > setp pid.z.FF1 [AXIS_2]FF1 > setp pid.z.FF2 [AXIS_2]FF2 > setp pid.z.deadband [AXIS_2]DEADBAND > setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT > setp pid.z.error-previous-target true > #setp pid.z.maxerror .0005 > > net z-index-enable <=> pid.z.index-enable > net z-enable => pid.z.enable > net z-pos-cmd => pid.z.command > #net z-vel-cmd => pid.z.command-deriv > net z-pos-fb => pid.z.feedback > net z-output => pid.z.output > > # Step Gen signals/setup > setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP > setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD > setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN > setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE > setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE > setp hm2_7i92.0.stepgen.02.step_type 0 > setp hm2_7i92.0.stepgen.02.control-type 1 > setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL > setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL > > # ---closedloop stepper signals--- > net z-pos-cmd <= axis.2.motor-pos-cmd > net z-vel-cmd <= axis.2.joint-vel-cmd > net z-output => hm2_7i92.0.stepgen.02.velocity-cmd > net z-pos-fb <= hm2_7i92.0.stepgen.02.position-fb > net z-pos-fb => axis.2.motor-pos-fb > net z-enable <= axis.2.amp-enable-out > net z-enable => hm2_7i92.0.stepgen.02.enable > > net max-home-z => axis.2.home-sw-in > net max-x-y-min-z => axis.2.neg-lim-sw-in > net max-home-z => axis.2.pos-lim-sw-in > > > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users
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) If we desire respect for the law, we must first make the law respectable. - Louis D. Brandeis Genes Web page <http://geneslinuxbox.net:6309/gene> _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
