[Emc-users] HAL Error, what did I do wrong?
I got my filtered speed feedback working by copying and modifying parts of nist lathe and sim lathe. Tonight I tried to add PID control to the spindle and can't get it to run. I get this error - HAL: ERROR: bad position: 0 Here is what I added tonight (beside adding another PID loop (count=4) and such to core servo.hal). Start of drive speed control loadrt limit2 count=1 addf limit2.0 servo-thread # Limit spindle rpm rate of change to 300 RPM per sec setp limit2.0.min 0 setp limit2.0.max 3000 setp limit2.0.maxv 10 # For testing, I plan to change to around 300rpm/sec later, # this is so I can watch with hal tools newsig spindle-ramp float linksp motion.spindle-speed-out = limit2.0.in linkps limit2.0.out = spindle-ramp newsig vfd-command float linksp spindle-rpm-filtered = pid.3.feedback linksp vfd-command = pid.3.output setp pid.3.maxoutput 10 # Tune gains to minimize following error but be slow responding to # the huge negative spike when threading resets spindle position # I plan to use mostly I gain to setp pid.3.Pgain 1 setp pid.3.Igain .01 setp pid.3.Dgain 0 setp pid.3.bias 0 setp pid.3.FF0 0 setp pid.3.FF1 0 # deadband should be just over 1 count setp pid.3.deadband 5 linksp spindle-ramp = pid.3.command linksp motion.spindle-on = pid.3.enable ### Does anyone here know what I did wrong? Thanks! Roger Neal - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] OT Encoder Question
Hello, First let me apologize for this off topic question, but I exhausted all the responses google provided. I have a Hardinge lathe with an unknown encoder mounted to the spindle. The encoder has 5 sets of wires. All are twisted pair, one set is wrapped in red foil and is a red wire and a black wire I assume this is the power. One set is wrapped in green foil, with a green wire and a black wire. The last three sets are in blue foil, wire colors are; brown/black, blue/black, yellow/black. I can speculate that the blue foil are the channel where the colored wire is the channel and the black is the inverse. That leaves the rather dubious green foil set of wires. Any ideas, before I wire and hope? - Be a better Heartthrob. Get better relationship answers from someone who knows. Yahoo! Answers - Check it out. - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] Run from here
How can I run a G-code from line 452?. There are any instruction like “run from here” (mach3) . Thanks: Antonio - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] emc on an imac g3
Hi I' in tyhe process of getting my stuff together. Can someone tell me if it is possible to run a cnc woodworking router using emc on an old imac G3 Aaron -- Powered by Outblaze - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT Encoder Question
If this is an older Hardinge like a HNC or CHNC this may be a resolver rather than an encoder. Rayh On Thu, 2 Aug 2007 23:43:35 -0700 (PDT), Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net said: Hello, First let me apologize for this off topic question, but I exhausted all the responses google provided. I have a Hardinge lathe with an unknown encoder mounted to the spindle. The encoder has 5 sets of wires. All are twisted pair, one set is wrapped in red foil and is a red wire and a black wire I assume this is the power. One set is wrapped in green foil, with a green wire and a black wire. The last three sets are in blue foil, wire colors are; brown/black, blue/black, yellow/black. I can speculate that the blue foil are the channel where the colored wire is the channel and the black is the inverse. That leaves the rather dubious green foil set of wires. Any ideas, before I wire and hope? - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] emc on an imac g3
Thanks jeff I'll ditch it then. - Original Message - From: Jeff Epler [EMAIL PROTECTED] To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Subject: Re: [Emc-users] emc on an imac g3 Date: Fri, 3 Aug 2007 07:06:05 -0500 Without substantial work (a port of the RTAI realtime kernel to the G3's processor), you will not be able to run realtime software such as emc. Even if you did this, it doesn't look like you can use any emc-supported I/O hardware (such as parallel-port or PCI cards) in that machine, so you still have no way to communicate with your mill. Jeff - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Powered by Outblaze - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] [Re: Run from here]
Many thanks! Only one more question I don't know how can I activate a Z safe (10mm) to move to that line more secure. Regards Antonio --- In AXIS, click a line in the program listing. Then, from the menu, execute 'Machine Set Next Line' and then 'Machine Run'. The other GUIs may have this function in a more obscure location. Jeff How can I run a G-code from line 452?. There are any instruction like “run from here” (mach3) . Thanks: Antonio - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] [Re: Run from here]
You could enter the move you want (e.g., G0Z10) in MDI mode before you Set Next Line. Jeff - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT Encoder Question
Hello Richard, I have a Hardinge HNC that I am converting. Your description doesn't match mine very well so I'll assume you have a different model, but I did find that my spindle pulse generator had terminal pairs for both the LED and the amp (+12 V and GND on both) along with the pulse and the index pairs. I would be interested in knowing more about your machine and what you plans are. Kirk Wallace ~~ On Thu, 2007-08-02 at 23:43 -0700, richard harris wrote: Hello, First let me apologize for this off topic question, but I exhausted all the responses google provided. I have a Hardinge lathe with an unknown encoder mounted to the spindle. The encoder has 5 sets of wires. All are twisted pair, one set is wrapped in red foil and is a red wire and a black wire I assume this is the power. One set is wrapped in green foil, with a green wire and a black wire. The last three sets are in blue foil, wire colors are; brown/black, blue/black, yellow/black. I can speculate that the blue foil are the channel where the colored wire is the channel and the black is the inverse. That leaves the rather dubious green foil set of wires. Any ideas, before I wire and hope? - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] Homing with index m5i20
Issue: The direction of searching for the index seems to be the inverse of the direction of THE_HOME_LATCH VEL when I would have expected it to be the same. What I did: Update from (Ubuntu) 2.1.6 to 2.1.7. Generate new configs in my home folder and modify to suit. However, with the current set up, homing is achieved successfully on the index pulse as can be seen from the screen shot: http://imagebin.org/9711 ini snip: [AXIS_0] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 4.0 MAX_ACCELERATION = 20.0 BACKLASH = 0.000 INPUT_SCALE = 2 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.0 MIN_LIMIT = -32.0 MAX_LIMIT = 20.0 FERROR = 0.01 MIN_FERROR = 0.01 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.1 HOME_LATCH_VEL =0.04 HOME_USE_INDEX =TRUE HOME_IGNORE_LIMITS =YES MAX_OUTPUT =10 Thank you. Richard - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] emc2 and kernel 2.6.20
Attached, configure make logs for emc2-2.1.7 released on July 30th. config.log.bz2 Description: BZip2 compressed data make.log.bz2 Description: BZip2 compressed data - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] HAL Error, what did I do wrong?
RogerN wrote: I got my filtered speed feedback working by copying and modifying parts of nist lathe and sim lathe. Tonight I tried to add PID control to the spindle and can't get it to run. I get this error - HAL: ERROR: bad position: 0 Here is what I added tonight (beside adding another PID loop (count=4) and such to core servo.hal). Start of drive speed control loadrt limit2 count=1 addf limit2.0 servo-thread # Limit spindle rpm rate of change to 300 RPM This is a head-scratcher. The error message is almost certainly coming from an addf command. addf allows you to optionally specify a position in the thread where you would like the function to be (1 = first function in the thread, 2 = 2nd function, -2 = 2nd from the end, etc.). That error message is issued if you try to set the position to zero, as in: addf limit2.0 servo-thread 0 Obviously you aren't doing that. I thought maybe the comment was being mishandled and turned into a 0 somehow, but I've tried here on both CVS head and version 2.1.7, and comments after an addf command are fine. What version are you running? Do you have any other addf commands in your file that end in zero? Try removing the comment after the addf command? Let me know what you find out. Regards, John Kasunich - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT Encoder Question
[EMAIL PROTECTED] wrote: If this is an older Hardinge like a HNC or CHNC this may be a resolver rather than an encoder. Why would a resolver have 5 pairs of wires? I would think 3 pairs would suffice for any flavor of resolver. The only thing I can think of that needs 5 pairs would be if they had two resolvers in there (coarse and fine). You'd have one exciter, and two sets of sin/cos outputs. A differential-output encoder with index would normally have FOUR pairs, power, A B and Z. Possibly a 5th pair could be an encoder valid signal. If all the pairs of wires have relatively low resistance (a few hundred Ohms, max) across that pair, then it is almost certain it is a resolver. Jon - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT Encoder Question
First see if you can find any markings indicating a manufacturer, if so search for them on the web and look for a similar encoder, they might have the wiring published online. If that doesn't work, I would ohm between each color and black to make sure none are tied together, if the are, that's probably your power wire. Red black could be + and green black could be -. Many sensors used in industrial equipment use brown as + and blue as -. Also ohm each wire to the encoder case, also check shield to case. Your red black pair could be power and the green could be a ground. If the red and black are not tied together(ohms more than 30 or so), try 5v on them. If you get the power right, channels A and B will read an AC voltage when you turn the encoder, Index will only get a quick spike once per rev. For fear of burning up something, If you can't find the manufacturer's name, I would look at encoder wiring diagrams on some of the more popular encoder brands. I know Automationdirect.com has encoders with online documentation but I don't know if wiring color codes are common for other manufacturers. HTH Roger Neal - Original Message - From: richard harris To: Enhanced Machine Controller (EMC) Sent: Friday, August 03, 2007 1:43 AM Subject: [Emc-users] OT Encoder Question Hello, First let me apologize for this off topic question, but I exhausted all the responses google provided. I have a Hardinge lathe with an unknown encoder mounted to the spindle. The encoder has 5 sets of wires. All are twisted pair, one set is wrapped in red foil and is a red wire and a black wire I assume this is the power. One set is wrapped in green foil, with a green wire and a black wire. The last three sets are in blue foil, wire colors are; brown/black, blue/black, yellow/black. I can speculate that the blue foil are the channel where the colored wire is the channel and the black is the inverse. That leaves the rather dubious green foil set of wires. Any ideas, before I wire and hope? !--[if !supportLineBreakNewLine]-- !--[endif]-- -- Be a better Heartthrob. Get better relationship answers from someone who knows. Yahoo! Answers - Check it out. -- - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] [Fwd: Re: Dahlih photos]
Stuart, Nicely done! Anders, thanks for posting that. Mark At 05:22 PM 8/2/2007, you wrote: Stuart Stevenson sent me some pics about his EMC2 conversion which you might enjoy. Here: http://www.anderswallin.net/2007/08/dah-lih-emc2-conversion/ Anders - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT Encoder Question
Kirk Wallace wrote: Hello Richard, I have a Hardinge HNC that I am converting. Your description doesn't match mine very well so I'll assume you have a different model, but I did find that my spindle pulse generator had terminal pairs for both the LED and the amp (+12 V and GND on both) along with the pulse and the index pairs. I would be interested in knowing more about your machine and what you plans are. Aha! That could, then, explain 5 pairs. Two power supplies, and A, B and Z. Jon - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] emc on an imac g3
Without substantial work (a port of the RTAI realtime kernel to the G3's processor), you will not be able to run realtime software such as emc. Even if you did this, it doesn't look like you can use any emc-supported I/O hardware (such as parallel-port or PCI cards) in that machine, so you still have no way to communicate with your mill. Jeff - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] VFD Braking Resistor
Hello Roger, I have been working on my lathe spindle VFD, so I have been following your messages. I got it mostly working last night, and during testing, I found that it was easy to have it error on deceleration. I happened to have a large lab resistor on hand and in a matter of minutes, I had the dynamic braking working. It made a big difference. I plan on ordering from Digikey three 50 Ohm 60 Watt resistors which will total under twenty dollars. So, I am wondering, why you are avoiding using dynamic braking on your setup? Kirk Wallace - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT Encoder Question
Gene Heskett wrote: The other possibility is that its a resolver, where one set of wires would be power, probably 5 volts, The next set, possibly the green one is an index at 0 output, and the other 3 would divide the full rotation in 1/2 turn, 1/4 turn, and 1/8 turn. But that on the face of it, would need about 4 or 5 more divisions to achieve sufficient accuracy. But one could make an educated guess as to that particular signal from a resolver by using the std nema color code sequence. The Bad Boys etc phrase comes to mind. :) If its all externally powered, then 5 sets of wires would let the resolution be divided further to 1/16th and 1/32nd of a turn, which with decent ballistics would allow thread cutting. As for an index, the MSB's 0-1 transition would suffice if that's the case. That's not a resolver. Sounds like you are describing a parallel absolute encoder. Such things exist but are rare. A resolver is a rotary transformer, similar to the old synchros and selsyns that were used in the 40's and 50's. See http://en.wikipedia.org/wiki/Resolver_%28electrical%29 for more details. There is no electronics or optics in a resolver, only copper windings and iron laminations. It does not use a DC power supply voltage. One winding is excited by an AC sine wave (typically a few volts at 2500 or 5000Hz), and the magnitude and/or phase of the signals on two other windings are decoded to get the position. The nice thing about resolvers is that they are very rugged - with no electronics in the resolver itself, they can handle high temperatures, coolant, and other abuse that would kill an optical encoder in short order. The bad thing about resolvers is that the circuitry to generate the sine wave reference and interpret the resulting signals is usually complex and expensive. Usually if you are retrofitting a machine with resolvers the best approach is to remove them and replace them with encoders. Regards, John Kasunich - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT Encoder Question
I've seen Heidenhain encoders that have 5 pairs, they have 4 lines for power. Some companies use extra return (ground) lines. There is also the possibility of an extra track like on brushless servo motors, which can have a hall track Or like John said, it could be an absolute encoder, although many of those have more than 5 pairs. I'm thinking something with 5 pairs has to be an encoder, although I think I may have seen resolvers with more that 6 wires. Maybe you're going to have to post pics so we can help identify it. Eric Shape Yahoo! in your own image. Join our Network Research Panel today! http://surveylink.yahoo.com/gmrs/yahoo_panel_invite.asp?a=7 - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] emc2 and kernel 2.6.20
The problem you report is fixed in CVS TRUNK: http://cvs.linuxcnc.org/cvs/emc2/src/rtapi/rtai_rtapi.c.diff?r1=1.34;r2=1.35 this patch should apply cleanly to the 2.1 branch. Jeff - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT Encoder Question
You might try posting the question on CNCzone (www.cnczone.com). Ken [EMAIL PROTECTED] Mark Kenny Products Company, LLC 55 Main Street Voice: (888)ISO-SEVO (888)476-7386 Newtown, CT 06470Fax: (203)426-9138 http://www.MarkKenny.com -Original Message- From: [EMAIL PROTECTED] [mailto:[EMAIL PROTECTED] Behalf Of Jon Elson Sent: Friday, August 03, 2007 1:12 PM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] OT Encoder Question Kirk Wallace wrote: Hello Richard, I have a Hardinge HNC that I am converting. Your description doesn't match mine very well so I'll assume you have a different model, but I did find that my spindle pulse generator had terminal pairs for both the LED and the amp (+12 V and GND on both) along with the pulse and the index pairs. I would be interested in knowing more about your machine and what you plans are. Aha! That could, then, explain 5 pairs. Two power supplies, and A, B and Z. Jon - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Homing with index m5i20
Richard Arthur wrote: John Kasunich wrote: Richard Arthur wrote: Issue: The direction of searching for the index seems to be the inverse of the direction of THE_HOME_LATCH VEL when I would have expected it to be the same. What I did: Update from (Ubuntu) 2.1.6 to 2.1.7. Generate new configs in my home folder and modify to suit. However, with the current set up, homing is achieved successfully on the index pulse as can be seen from the screen shot: http://imagebin.org/9711 ini snip: [AXIS_0] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 4.0 MAX_ACCELERATION = 20.0 BACKLASH = 0.000 INPUT_SCALE = 2 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.0 MIN_LIMIT = -32.0 MAX_LIMIT = 20.0 FERROR = 0.01 MIN_FERROR = 0.01 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.1 HOME_LATCH_VEL =0.04 HOME_USE_INDEX =TRUE HOME_IGNORE_LIMITS =YES MAX_OUTPUT =10 Thank you. Richard Thanks for the halscope shot - that helps a lot! It looks like you are starting the homing process already on the switch. (Or maybe the home switch is active low and EMC only thinks it is on the switch.) Your search and latch velocities are both positive. But EMC starts the homing process moving in the negative direction - it thinks its on the switch and is trying to back off. At about 3.5 divisions on the scope trace it thinks it is off the switch and starts to move positive at search velocity. It almost almost immediately hits the switch, then backs off at a negative velocity. It begins the final pass at positive latch velocity just after 4 divisions on the scope trace. What physical direction corresponds to the initial negative slopw portion of the scope trace? Which end of the axis is your switch on? Is that initial move toward or away from the switch? If your switch is active low, you can invert the input by connecting to m5i20.0.in-whatever-not instead of m5i20.0.in-whatever. Regards, John Kasunich I've increased the Home_Latch_Vel to 0.8 to enable me to squeeze in the whole cycle with 4 channels. This latch vel causes problems with 'bouncing', so it is just to make my point. Screen shot here: http://imagebin.org/9716 The servo amps switch off travel at the limit switches (as previously discussed) and home/limit is shared. As I see it, slope 1 is the Home_Search_Vel, 2 is backing off, 3 is Home_Latch_Vel., 4 searching for index. My point is that after final detection of switch, the direction is reversed to find the index. As I said at the beginning, this is not what I expected - maybe I'm wrong? I've got no problem with homing. Under 2.1.6 I used the 2nd homing sequence diagram successfully (as this screen shot, but after slope 3, Home_Offset -0.1) and as this shot shows, I can home on the index now. It's just that homing using the index doesn't appear to behave as detailed in the homing sequence diagrams of the user handbook. I've not answered you questions directly, in the hope that the 4 ch. screen shot makes it clear. Thank you. I was interpreting the picture as: slope 1 = move negative to get off switch slope 2 = move positive to find switch (normal search phase) slope 3 = back off switch before final move slope 4 = move to switch at latch vel, then continue till index pulse Assuming that the home switch input is the same as the neg limit switch input, that interpretation doesn't make sense. Your original post showed an ini file with positive values for search and latch velocities. If slope 1 is search and slope 3 is latch, that doesn't make sense either. Those slopes are clearly negative in spite of the positive values in your ini file. Any bug that severe would have shown up long ago. Fortunately there is a way to see exactly what is going on. Can you re-do the test and post a new image? Set the green channel to 'axis.0.home-sw-in' instead of 'axis.0.neg-limit-sw-in'. They are probably the same, but its best to be sure. Set the dark blue channel to 'axis.0.home-state' instead of 'axis.0.homing'. Set the scale for 'home-state' to 5 per division - home-state is an integer that ranges from 0 to 20 during the homing process. To understand what the values of 'home-state' mean, , search for states for homing in http://cvs.linuxcnc.org/cgi-bin/cvsweb.cgi/emc2/src/emc/motion/motion.h?rev=1.71.4.3 Looking at home-state will tell us exactly what is going on during each slope. If there is a bug, we'll find it and fix it. Likewise, if there is a misconfiguration somewhere, we'll fix that. Can you post your complete ini and hal files at pastebin.ca when you post the next scope trace? Thanks, John Kasunich - This SF.net email is sponsored by: Splunk Inc. Still grepping
Re: [Emc-users] Homing with index m5i20
Richard Arthur wrote: ini: http://www.pastebin.ca/644773 hal: http://www.pastebin.ca/644774 screen shot: http://imagebin.org/9721 Thanks, Richard The scope trace shows that the the home input to the motion controller is true during the first slope - that means EMC thinks it is already on the switch, and is trying to get off of it. From the HAL file: # Connect limit/home switch outputs to motion controller. newsig Xminlim bit newsig Xmaxlim bit newsig Xhome bit linksp Xminlim = m5i20.0.in-00-not linksp Xminlim = axis.0.neg-lim-sw-in linksp Xmaxlim = m5i20.0.in-01-not linksp Xmaxlim = axis.0.pos-lim-sw-in linksp Xhome = m5i20.0.in-00 linksp Xhome = axis.0.home-sw-in Note that the limit switch signal is connected to the -not pin. That's because your switches are active low. But the home signal is connected to the regular pin, not the -not one. So EMC is confused about the polarity of your home switch. The solution is to connect EMC's home input AND its negative limit input both to the -not driver pin. However, you can't connect two signals (Xminlim and Xhome) to one pin. You can connect two or more pins to one signal. I'd do it like this: # Connect limit/home switch outputs to motion controller. newsig Xminlim-and-home bit newsig Xmaxlim bit linksp Xminlim-and-home = m5i20.0.in-00-not linksp Xminlim-and-home = axis.0.neg-lim-sw-in linksp Xminlim-and-home = axis.0.home-sw-in linksp Xmaxlim = m5i20.0.in-01-not linksp Xmaxlim = axis.0.pos-lim-sw-in Since you are homing on the negative end of the axis, SEARCH_VEL must be negative. If you also make LATCH_VEL negative, it will home on the first index pulse outside the limit switch, which is probably not what you want. Make LATCH_VEL positive. Then the homing process will be: 1) negative slope at SEARCH_VEL until you hit the switch 2) positive slope at LATCH_VEL until you get off the switch 3) continue at the same positive slope until you hit the index 4) done Regards, John Kasunich - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Homing with index m5i20
John Kasunich wrote: Richard Arthur wrote: John Kasunich wrote: Richard Arthur wrote: Issue: The direction of searching for the index seems to be the inverse of the direction of THE_HOME_LATCH VEL when I would have expected it to be the same. What I did: Update from (Ubuntu) 2.1.6 to 2.1.7. Generate new configs in my home folder and modify to suit. However, with the current set up, homing is achieved successfully on the index pulse as can be seen from the screen shot: http://imagebin.org/9711 ini snip: [AXIS_0] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 4.0 MAX_ACCELERATION = 20.0 BACKLASH = 0.000 INPUT_SCALE = 2 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.0 MIN_LIMIT = -32.0 MAX_LIMIT = 20.0 FERROR = 0.01 MIN_FERROR = 0.01 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.1 HOME_LATCH_VEL =0.04 HOME_USE_INDEX =TRUE HOME_IGNORE_LIMITS =YES MAX_OUTPUT =10 Thank you. Richard Thanks for the halscope shot - that helps a lot! It looks like you are starting the homing process already on the switch. (Or maybe the home switch is active low and EMC only thinks it is on the switch.) Your search and latch velocities are both positive. But EMC starts the homing process moving in the negative direction - it thinks its on the switch and is trying to back off. At about 3.5 divisions on the scope trace it thinks it is off the switch and starts to move positive at search velocity. It almost almost immediately hits the switch, then backs off at a negative velocity. It begins the final pass at positive latch velocity just after 4 divisions on the scope trace. What physical direction corresponds to the initial negative slopw portion of the scope trace? Which end of the axis is your switch on? Is that initial move toward or away from the switch? If your switch is active low, you can invert the input by connecting to m5i20.0.in-whatever-not instead of m5i20.0.in-whatever. Regards, John Kasunich I've increased the Home_Latch_Vel to 0.8 to enable me to squeeze in the whole cycle with 4 channels. This latch vel causes problems with 'bouncing', so it is just to make my point. Screen shot here: http://imagebin.org/9716 The servo amps switch off travel at the limit switches (as previously discussed) and home/limit is shared. As I see it, slope 1 is the Home_Search_Vel, 2 is backing off, 3 is Home_Latch_Vel., 4 searching for index. My point is that after final detection of switch, the direction is reversed to find the index. As I said at the beginning, this is not what I expected - maybe I'm wrong? I've got no problem with homing. Under 2.1.6 I used the 2nd homing sequence diagram successfully (as this screen shot, but after slope 3, Home_Offset -0.1) and as this shot shows, I can home on the index now. It's just that homing using the index doesn't appear to behave as detailed in the homing sequence diagrams of the user handbook. I've not answered you questions directly, in the hope that the 4 ch. screen shot makes it clear. Thank you. I was interpreting the picture as: slope 1 = move negative to get off switch slope 2 = move positive to find switch (normal search phase) slope 3 = back off switch before final move slope 4 = move to switch at latch vel, then continue till index pulse Assuming that the home switch input is the same as the neg limit switch input, that interpretation doesn't make sense. Your original post showed an ini file with positive values for search and latch velocities. If slope 1 is search and slope 3 is latch, that doesn't make sense either. Those slopes are clearly negative in spite of the positive values in your ini file. Any bug that severe would have shown up long ago. Fortunately there is a way to see exactly what is going on. Can you re-do the test and post a new image? Set the green channel to 'axis.0.home-sw-in' instead of 'axis.0.neg-limit-sw-in'. They are probably the same, but its best to be sure. Set the dark blue channel to 'axis.0.home-state' instead of 'axis.0.homing'. Set the scale for 'home-state' to 5 per division - home-state is an integer that ranges from 0 to 20 during the homing process. To understand what the values of 'home-state' mean, , search for states for homing in http://cvs.linuxcnc.org/cgi-bin/cvsweb.cgi/emc2/src/emc/motion/motion.h?rev=1.71.4.3 Looking at home-state will tell us exactly what is going on during each slope. If there is a bug, we'll find it and fix it. Likewise, if there is a misconfiguration somewhere, we'll fix that. Can you post your complete ini and hal files at pastebin.ca when you post the next scope trace? Thanks, John Kasunich ini: http://www.pastebin.ca/644773 hal:
[Emc-users] PUMA reverse kinematics
I have a prototype puma robot in my living room, mostly to amaze visiting teenagers who think they have seen it all. It makes scary noises and moves nicely with EMC2 but now I am ready for some PUMA reverse kinematics so I can put this work. Has anyone done this already? The EMC2 docs mention PUMA robots but I have not found any ready to use examples of configuration files. The PUMA OPENGL simulation from http://jmkasunich.dyndns.org/cgi-bin/blosxom/software/simulated-machine-02-04-07.html is mesmerizing but it seems to have just the forward kinematics in its code. -- christopherpurcell at mac dot com - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT Encoder Question
The nice thing about resolvers is that they are very rugged - with no electronics in the resolver itself, they can handle high temperatures, coolant, and other abuse that would kill an optical encoder in short order. The bad thing about resolvers is that the circuitry to generate the sine wave reference and interpret the resulting signals is usually complex and expensive. And could now be put in one IC. Ahhh, but they are still big bucks... somebody was selling surplus R/D chips on ebay a couple months ago for $350/each. Mark - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT Encoder Question
Mark Pictor wrote: The nice thing about resolvers is that they are very rugged - with no electronics in the resolver itself, they can handle high temperatures, coolant, and other abuse that would kill an optical encoder in short order. The bad thing about resolvers is that the circuitry to generate the sine wave reference and interpret the resulting signals is usually complex and expensive. And could now be put in one IC. Ahhh, but they are still big bucks... somebody was selling surplus R/D chips on ebay a couple months ago for $350/each. They used to be expensive. But, Analog Devices recently came out with the next generation of this, the AD2S1200, $18 in single quantity from Digi-Key. It not only generates absolute position, but it puts out a simulated quadrature signal. Jon - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT Encoder Question
Hi Jon, Those are hot chips... don't know how many resolvers there are out that will handle the reference freq tho ... but not many apps will push the rps spec. ;-) http://www.analog.com/en/subCat/0,2879,760%5F791%5F0%5F%5F0%5F,00.html Dave On Aug 3, 2007, at 9:03 PM, Jon Elson wrote: Mark Pictor wrote: The nice thing about resolvers is that they are very rugged - with no electronics in the resolver itself, they can handle high temperatures, coolant, and other abuse that would kill an optical encoder in short order. The bad thing about resolvers is that the circuitry to generate the sine wave reference and interpret the resulting signals is usually complex and expensive. And could now be put in one IC. Ahhh, but they are still big bucks... somebody was selling surplus R/D chips on ebay a couple months ago for $350/each. They used to be expensive. But, Analog Devices recently came out with the next generation of this, the AD2S1200, $18 in single quantity from Digi-Key. It not only generates absolute position, but it puts out a simulated quadrature signal. Jon -- --- This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
