Greetings;
I have that A axs more or less working, but the settings sure don't
match the identical setup on another machine.
Basic math:
unit is degree
motor is 300 full steps per rev
worm ratio is 5/1
prox sw for home, gives pulse around 4 to 5 degrees wide as the screw
head goes by.
Homing accel's is in 5 digit range, but even at search_vel above 10, it
coasts on by the pulse and homing errors as the signal is false again.
So I long ago wrote a hal paragraph that serves to calibrate a rotary
axis, by capturing the stepper count as the third home pulse goes by,
saving it in a mux2 setup for sample-hold, then I let it run till the
103th home pulse has gone by, freezing that in a 2nd sample-hold and I
can run it while doing that 40x faster than the search_vell, w/o losing
a home pulse. The two sample-hold's are then 1st subtracted from the
2nd, and with the driver set for 8 steps per full step, I can reliably
get 800000 steps=100 turns. div by 100 to get a 1 turn value, and div
that by 360 to reduce it to 1 degree, gets 22.222222222 which I put in
STEPSCALE.
2 problems, home pulse is detected just fine, but for a G1F move, I have
to use 5 digit F values, which display as Minute values, huge IOW.
160000 or more to get the axis up to working speeds. I've 45 volts for
the motor psu, I ought to be able to stop it in one count! Yet the
homing operation has to creep at much less than a turn a minute, while
it can run at 5 rps w/o a problem.
So why can't I get a decent decel while homing it?
2nd Q, has anyone converted the atpid tune procedure to a halui mdi
script? If so, where can I get it?
Thanks all;
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, 1940)
If we desire respect for the law, we must first make the law respectable.
- Louis D. Brandeis
Genes Web page <http://geneslinuxbox.net:6309/>
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