On Sunday 10 May 2020 00:46:14 andrew beck wrote: > hey Gene > > I am tuning my chinese servos and can't connect up the tuning software > so want to show it in Halscope so that I can track the following error > and then adjust it in the servo drive. This is just a temporary > thing. I have the feedback from the X axis encoder plugged into the > Spindle encoder pins on the 7i76 as that is the only high speed > encoder counter I currently have to use. > I see. Do able then. But whats the other card driving the 7i76? If its a 5i25, then another encoder can be accessed thru a bob on the p2 connector if the right firmware is loaded. I don't have other cards here except for the rpi4 but thats another critter entirely.
1000 ppr encoders are also going to overrun the opto's in the bobs, requiring the opto's be removed and bypassed. The sainsmart bob makes that a bit easier to do than most bobs. But theres no opto on the 7i76 encoder inputs, or if there is, they've never been a problem speedwise. And that set of inputs is being seriously abused here on the GO704 as my spindle encoders A/B in high gear is a scale slightly above 7100 ppr and the index, still on the spindle can go up to 3000 revs. > I am not sure exactly how to set this thing up. Probably the best startup is to make a 1 axis config for both .ini and hal, fine tune that one and copy it PID settings and all to what will become the final hal. Then move the one encoder to the next axis in your test .ini and hal. Wash, rinse, repeat. > *Ideally I just want to be able to graph the encoder following error > between my encoder and the commanded position that is going through > the step gens. I don't want to touch the PID loop in Linux at the > moment as I only have the once encoder counter and will have to remove > the feedback once the tuning is done and connect up the Y axis encoder > next to the 7i76 spindle encoder pins* > > this is my first time using Halscope (actually any sort of scope) and > I am getting stuck This then will likely will be a new concept, looking at a signal as it changes with time, sometimes very short times. Thats what a scope does, measures voltage vs time and displays it. But when the light comes on you'll wonder how you ever got by without it. Some previous experience with a triggeered scope would help if you had it. Don't be afraid to ask questions I can probably answer as in October of this year, it will be 70 years since I picked up my first scope probe if I don't fall over first. Yeah, I'm the old fart of this list. This "all software" hal-scope isn't that great, too slow, but its good enough to get the job done 99% of the time. And it can look at any signal inside of linuxcnc you can't touch with a real scope. Handier than bottled beer even. ;-) But right now I'm going back to the rack, its 2:15AM. Stay well now. > regards > > Andrew > > On Sun, May 10, 2020 at 4:02 PM Gene Heskett <ghesk...@shentel.net> wrote: > > On Saturday 09 May 2020 23:25:42 andrew beck wrote: > > > hey guys > > > > > > getting a bit stuck here and it is the same issue as this old > > > email so I thought I would answer it and see what you guys think > > > > > > I have a standard Hal and ini file generated from Pncconf for a > > > 5i25 and 7i76 combo. > > > > > > just trying to connect my encoder and graph the following error in > > > Halscope. > > > > > > all I want to do at the moment is use Halscope to allow me to > > > manually tune my servo drive parameters. (I will not be tuning > > > inside linuxcnc at the moment that will have to wait until my new > > > mesa cards come > > > > > > Can someone please advise what hal and ini stuff needs to be > > > changed to get my feedback into halscope > > > > > > regards > > > > > > Andrew > > > > > > > > > > > > I have just connected my x axis encoder to my spindle > > > > For what purpose? > > > > > On Thu, Feb 27, 2020 at 7:01 AM Ed W <li...@wildgooses.com> wrote: > > > > Hi, I've made good progress converting my little OmioCNC X6 from > > > > Mach3 to LinuxCNC. I think I owe a writeup at some point, but I > > > > still have a few glitches before I'm ready to do that. > > > > > > > > First thing which I'm worrying about is that having run pncconf, > > > > it generates an output for my open loop steppers which involves > > > > a PID type setup, eg here is my X axis from the ini > > > > PID's are optional for microstepped steppers. I have 2 lathes, one > > running with and one w/o. Both work well. My 6040 is running well > > w/o PID's. My GO704 has them. They are needed with servo's as thats > > what drives the servo's to a null, no error position. PID are useful > > IF you have feedback from glass scales or separate encoders on the > > motors, basicly treating the stepper as a servo, and the better > > motor kits today are moving in that direction. > > > > > > [AXIS_X] > > > > MAX_VELOCITY = 100.0 > > > > MAX_ACCELERATION = 750.0 > > > > MIN_LIMIT = -0.01 > > > > MAX_LIMIT = 355.0 > > > > > > > > [JOINT_0] > > > > TYPE = LINEAR > > > > HOME = 0.0 > > > > FERROR = 1.0 > > > > MIN_FERROR = 0.01 > > > > MAX_VELOCITY = 100.0 > > > > MAX_ACCELERATION = 750.0 > > > > # 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 = 125.00 > > > > STEPGEN_MAXACCEL = 937.50 > > > > P = 1000.0 > > > > I = 0.0 > > > > D = 0.0 > > > > FF0 = 0.0 > > > > FF1 = 1.0 > > > > FF2 = 0.0 > > > > BIAS = 0.0 > > > > DEADBAND = 0.0 > > > > MAX_OUTPUT = 0.0 > > > > # these are in nanoseconds > > > > DIRSETUP = 10000 > > > > DIRHOLD = 10000 > > > > STEPLEN = 5000 > > > > STEPSPACE = 5000 > > > > STEP_SCALE = 320.0 > > > > MIN_LIMIT = -0.01 > > > > MAX_LIMIT = 355.0 > > > > HOME_OFFSET = -5.000000 > > > > HOME_SEARCH_VEL = -33.333333 > > > > HOME_LATCH_VEL = 0.500000 > > > > HOME_FINAL_VEL = 33.333333 > > > > HOME_USE_INDEX = NO > > > > HOME_IGNORE_LIMITS = YES > > > > HOME_SEQUENCE = 1 > > > > > > > > > > > > The corresponding .hal (again by pncconf) is as follows: > > > > > > > > > > > > #******************* > > > > # AXIS X JOINT 0 > > > > #******************* > > > > > > > > setp pid.x.Pgain [JOINT_0]P > > > > setp pid.x.Igain [JOINT_0]I > > > > setp pid.x.Dgain [JOINT_0]D > > > > setp pid.x.bias [JOINT_0]BIAS > > > > setp pid.x.FF0 [JOINT_0]FF0 > > > > setp pid.x.FF1 [JOINT_0]FF1 > > > > setp pid.x.FF2 [JOINT_0]FF2 > > > > setp pid.x.deadband [JOINT_0]DEADBAND > > > > setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT > > > > setp pid.x.error-previous-target true > > > > setp pid.x.maxerror .0005 > > > > > > > > net x-index-enable <=> pid.x.index-enable > > > > net x-enable => pid.x.enable > > > > net x-pos-cmd => pid.x.command > > > > net x-pos-fb => pid.x.feedback > > > > net x-output <= pid.x.output > > > > > > > > # Step Gen signals/setup > > > > > > > > setp hm2_5i25.0.stepgen.00.dirsetup > > > > [JOINT_0]DIRSETUP setp hm2_5i25.0.stepgen.00.dirhold > > > > [JOINT_0]DIRHOLD setp hm2_5i25.0.stepgen.00.steplen > > > > [JOINT_0]STEPLEN setp hm2_5i25.0.stepgen.00.stepspace > > > > [JOINT_0]STEPSPACE setp hm2_5i25.0.stepgen.00.position-scale > > > > [JOINT_0]STEP_SCALE setp hm2_5i25.0.stepgen.00.step_type > > > > 0 > > > > setp hm2_5i25.0.stepgen.00.control-type 1 > > > > setp hm2_5i25.0.stepgen.00.maxaccel > > > > [JOINT_0]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.00.maxvel > > > > [JOINT_0]STEPGEN_MAXVEL setp > > > > hm2_5i25.0.stepgen.00.step.invert_output true setp > > > > hm2_5i25.0.stepgen.00.direction.invert_output true > > > > > > > > # ---closedloop stepper signals--- > > > > > > > > net x-pos-cmd <= joint.0.motor-pos-cmd > > > > net x-vel-cmd <= joint.0.vel-cmd > > > > net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd > > > > net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb > > > > net x-pos-fb => joint.0.motor-pos-fb > > > > net x-enable <= joint.0.amp-enable-out > > > > net x-enable => hm2_5i25.0.stepgen.00.enable > > > > > > > > # ---setup home / limit switch signals--- > > > > > > > > net min-home-x => joint.0.home-sw-in > > > > net min-home-x => joint.0.neg-lim-sw-in > > > > net x-pos-limit => joint.0.pos-lim-sw-in > > > > > > > > > > > > What would someone experienced recommend I do here? This is a > > > > simple openloop stepper machine, no feedback or position > > > > sensors. Just a 6i25 to a basic breakout board, going to a > > > > chinese 556 stepper driver clone and onto some small steppers on > > > > a 6040 type of machine? > > > > > > > > Is there any disadvantage (or advantage) to leaving all the PID > > > > and closed loop stuff in here? > > > > > > > > > > > > Thanks > > > > > > > > Ed W > > > > > > > > > > > > > > > > _______________________________________________ > > > > 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 > > _______________________________________________ > 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
