[EMAIL PROTECTED] wrote:
http://www.conceptmachinery.com/bigTUNEup.jpg
A good place to start might be the Wikipedia page on PID tuning:
http://en.wikipedia.org/wiki/PID_tuning
--
Sebastian Kuzminsky
One of my most productive days was throwing away 1000 lines of code.
-- Ken Thompson
parport is
at; you can do this by loading the linux parport and parport_pc drivers
and seeing what they say. Also check your cables.
I know i sound like a broken record regarding EPP cables, but it really
is the problem 99% of the time.
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Sebastian Kuzminsky
sudden wind it stole my hat and i
? Oops, I forgot to put that in the hm2_7i43(9)
manpage, i'll add that now.
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sudden wind it stole my hat and i went on chasing it -- Gogol Bordello
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, if
it's 1 it emits that error and refuses to go on.
In my experience it indicates total lack of communication with the 7i43.
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sudden wind it stole my hat and i went on chasing it -- Gogol Bordello
.
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sudden wind it stole my hat and i went on chasing it -- Gogol Bordello
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Build the coolest Linux based applications with Moblin SDK
of configs/hostmot2/hm2.hal.
Note that the name of GPIO HAL-pins recently changed in TRUNK. In 2.2,
the XXX part of the name above is Connector.IONum. In TRUNK,
it's just IONum. Other than that it's all the same.
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Sebastian Kuzminsky
sudden wind it stole my hat and i went on chasing it -- Gogol
, and comment out the line that
attempts to set pwm_frequency
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sudden wind it stole my hat and i went on chasing it -- Gogol Bordello
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named hm2_*.c that do low-level I/O with the FPGA boards, but they
know nothing about the hostmot2 register file and protocols. The part
of the driver knows what to read write to the registers is in all the
other files.
--
Sebastian Kuzminsky
sudden wind it stole my hat and i went on chasing
(dual
license, GPL-2 and BSD), so you're perfectly welcome to borrow whatever
parts of it you like.
Mesa uses a register-file model rather than a message-passing model, i
dont know if that matters to you but it's something to think about.
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.)
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Build the coolest Linux based applications with Moblin SDK win great prizes
Grand prize is a trip for two to an Open Source
.
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how many no money boys are crazy how many boys are raw
how many no money boys are rowdy how many start a war
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Build the coolest
can't or don't want to compile from source, you can work around
the bug by enabling one pwmgen instance in your config modparam.
Assuming, of course, that you dont need those IO pins for GPIO...
Thanks for helping us find this! Your help is much appreciated.
--
Sebastian Kuzminsky
Peter C. Wallace wrote:
On Wed, 19 Nov 2008, Sebastian Kuzminsky wrote:
If you can't or don't want to compile from source, you can work around
the bug by enabling one pwmgen instance in your config modparam.
Assuming, of course, that you dont need those IO pins for GPIO...
I can also make
at 100,000 ns, try slowing
it down to 1,000,000 ns and see if that helps the lockups. Wouldnt help
the reboots though, that's strange...
If you can, get the machine to just before you add the .write(), and
send us the output of dmesg and halcmd show all.
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Sebastian Kuzminsky
how many no money boys
even be smaller than the magnitude of your backlash.
Show us another halscope screenshot, this time with dac-02-value and the
error signal for the PID controller that drives dac-02.
Also show us your PID tuning parameters for that axis.
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Sebastian Kuzminsky
how many no money boys are crazy how
. The HAL
objects dont change name, and it should not require any config changes.
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output step/dir, pwm, and pdm signals.
These signals can be converted to +/- 10V or just about any other
servo control signal you might need, again using dedicated external
hardware.
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of 2.2.7, hostmot2 and the 7i43 should be
usable by folks who dont want to compile our CVS Trunk from source. :-)
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Build
of a gantry - in case you want to talk me out of this
path...)
What exactly are you trying to achieve? It may or may not be doable,
within a given limit of synchronization.
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make it into 2.2.7. His config uses a
7i43 to control a 3-axis servo machine. It's available here:
http://cvs.linuxcnc.org/cvs/emc2/configs/hm2-servo/
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) are no HAL files that make your machine work.
You'll have to either help us help you, or do it yourself.
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Build the coolest
EMC2 on your computer.
This webpage would be a good place to start:
http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Installing_EMC2
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what i like best about 12648430 is the coffee
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looking in your current working directory, and recursively searches
through each subdirectory for the file in question.
On a well-functioning Ubuntu system, you should be able to get much
quicker results from locate filename.
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what i like best about 12648430
/engineering/ct104.html
Cheap? No.
Neat? Yes.
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Build the coolest Linux based
with PCI parallel port cards...
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Distances obtained as the speed of light multiplied by a cosmological
time interval have no direct physical significance.
http://en.wikipedia.org/wiki/Observable_universe
problematic. But the read from the 7i43 should be controlled by
the EPP 1.9 compliant timing in the 7i43.
What am I missing?
--
Sebastian Kuzminsky
Distances obtained as the speed of light multiplied by a cosmological
time interval have no direct physical significance.
http://en.wikipedia.org
the steps you describe:
Ted Hyde wrote:
If I have the EPP mode set to 1.7, I can load SV8B.BIT into the board, add
read and write components to the threads, and start the RT Kernel now.
Ted, can you clear this up by sending us the exact sequence of HAL
commands you ran?
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Ted Hyde wrote:
That, coupled with the phase of the moon and a new bag of tea leaves, has
GPIO, encoders and PWM functioning.
snip
Time to go turn the servo shafts and watch the numbers move! Woo Hoo!
Yay! I love a happy ending! :-)
--
Sebastian Kuzminsky
Distances obtained as the speed
as outputs are visible in
HAL as partial output GPIOs, but of course the driver does not allow
their output values to be set via HAL (their output values are set by
the module instances; only the open-drain and invert features are
available via HAL).
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Sebastian Kuzminsky
Distances obtained
Keil Hillman wrote:
-Original Message-
From: Sebastian Kuzminsky [mailto:[EMAIL PROTECTED]
Sent: Thursday, October 16, 2008 2:21 AM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] hm2_7i43 hostmot2 loading - invalid cookie?
This probably means the FPGA is not running
/m59f40709.
Of course if the communications are suspect, that might not be a
reliable representation of reality... :-/
I do most of my 7i43 testing on a 200K part, and after Peter helped me
get my EPP cabling problems fixed it's been operating flawlessly.
--
Sebastian Kuzminsky
Distances obtained
Keil Hillman wrote:
5. So, has anyone got 7i43 200K board working with hostmot2 firmware,
SV8S.BIT or SVST4_4S.BIT?
Both of these BIT files work for me on the 200K board with the hostmot2
and hm2_7i43 drivers.
--
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Distances obtained as the speed of light multiplied
too,
i'll add that to the manpage as you suggest.
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Sebastian Kuzminsky
Distances obtained as the speed of light multiplied by a cosmological
time interval have no direct physical significance.
http://en.wikipedia.org/wiki/Observable_universe
hm2_7i43.0.write, so that
you're writing (to the 7i43) the latest stuff from siggen. The way it
is now, you have to wait one thread-period before the siggen output
appears on the 7i43's pins.
--
Sebastian Kuzminsky
Distances obtained as the speed of light multiplied by a cosmological
time
balance between system responsiveness and IO update
frequency.
--
Sebastian Kuzminsky
Distances obtained as the speed of light multiplied by a cosmological
time interval have no direct physical significance.
http://en.wikipedia.org/wiki/Observable_universe
to wipe.
Hm, i dont know if the debian build-deps for emc2 are up-to-date in
TRUNK... Alex or Jeff, do you know? In any case, try installing (with
apt-get install the packages listed in the Build-Depends lines of the
debian/control.in file.
--
Sebastian Kuzminsky
Distances obtained
paste the wrong
one on my message.
Pastebin commands, output, dmesg. We can't help you without very
detailed info about exactly what you did and exactly what happened.
--
Sebastian Kuzminsky
Distances obtained as the speed of light multiplied by a cosmological
time interval have no direct
are generated, then run dmesg from the
shell and pastebin all the dmesg output (eg on www.pastebin.ca). Also
pastebin the ini files and HAL command files that you tried to run.
Without seeing all this it'd be really hard to figure out what's going on.
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Sebastian Kuzminsky
Distances obtained
is
already loaded and it prevents the second one from loading.
Compile emc2 from CVS, use hostmot2 and hm2_7i43 with the config=...
argument from Test 1, and let's see how it goes.
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romano hip hop - romano hip hop in the house
http://www.youtube.com/watch?v=D-azvIwldYg
Sebastian Kuzminsky wrote:
Eric (and anyone else who's had problems with pwmgen), please try this:
http://highlab.com/~seb/bzr/emc2/hostmot2/src/hal/drivers/mesa-hostmot2/pwmgen.c
I just committed this fix to the CVS TRUNK (along with pwmgen.frequency
and some other minor stuff). Let me
already be a
pre-packaged one available.
Is this thread related to the recent change on the EMC2 Wiki front page
(by Fox3) saying that upgrading emc2 in Ubuntu 8.04 destroys it?
Is John's resolution good enough that we can remove that warning now?
--
Sebastian Kuzminsky
Theo: Julian? I
would it mean to keep the PWM IO pin low if the .enable HAL pin is
low? Should the FPGA *not* let the PWM pin go to high-impedance/pullup
at bootup and at watchdog bite?
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Sebastian Kuzminsky
Hey look, it's a man!
A meatie! Look at the meatie!
Hi meatie! How's the weather?
-- from Cathedrals
tool for measuring the pulse width of a PWM signal.
I'll see if I can borrow an oscilloscope from work...
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Sebastian Kuzminsky
Theo: Julian? I haven't seen you in twenty years. You look good.
The picture the police have of you doesn't do you justice.
Julian: What do
differently.
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Theo: Julian? I haven't seen you in twenty years. You look good.
The picture the police have of you doesn't do you justice.
Julian: What do the police know about justice
Peter C. Wallace wrote:
On Mon, 22 Sep 2008, Sebastian Kuzminsky wrote:
Eric H. Johnson wrote:
I realize that a voltmeter may not be a reliable means of measuring a PWM,
but my particular voltmeter does seem to agree with the power output of the
laser. It also agrees with the voltages I read
Eric H. Johnson wrote:
It is specified as a parameter to the driver, up to 33Khz IIRC. I was
setting it to 5Khz.
I bet that's it then. The hm2_5i20 pwmgen currently goes at 25 KHz with
no way to change it. I'll add a HAL parameter and let's see if that helps.
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Sebastian Kuzminsky
it to the CVS
tree later tonight...
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On the molecular scale, you find it's reasonable to have a machine
that does a million steps per second, a mechanical system that works at
computer speeds. -- K. Eric Drexler
seeing. Is maybe your pwmgen.scale
not set to 1.0?
--
Sebastian Kuzminsky
On the molecular scale, you find it's reasonable to have a machine
that does a million steps per second, a mechanical system that works at
computer speeds. -- K. Eric Drexler
the
parts were the wrong size, but thanks!
Are you good now, or still getting following errors?
--
Sebastian Kuzminsky
Theo: Julian? I haven't seen you in twenty years. You look good.
The picture the police have of you doesn't do you justice.
Julian: What do the police know
? Are there any other files I need to copy over to the target system?
I would suggest you compile the CVS TRUNK to emc2.deb on your
development machine and install the .deb on your CNC machine.
Also, please pastebin the machine config files you're using.
--
Sebastian Kuzminsky
Theo: Julian
Stephen Wille Padnos wrote:
Sebastian Kuzminsky wrote:
[EMAIL PROTECTED] wrote:
Any ideas? Are there any other files I need to copy over to the target
system?
I would suggest you compile the CVS TRUNK to emc2.deb on your
development machine and install the .deb on your CNC machine
to do
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Theo: Julian? I haven't seen you in twenty years. You look good.
The picture the police have of you doesn't do you justice.
Julian: What do the police know about justice
Sebastian Kuzminsky wrote:
[EMAIL PROTECTED] wrote:
Is there a script for building the deb file or do you have a link on how to
do
it? I did a quick search on linuxcnc.org but did not see how to do that.
You need to have the kernel headers for your target system installed
with the pwmgen or with whatever it is that
takes the PWM signal as input?
If you set pwmgen.value to 0.5, do you read 1.65 V with your voltmeter?
--
Sebastian Kuzminsky
Theo: Julian? I haven't seen you in twenty years. You look good.
The picture the police have of you
, is there a
way to set the RTAPI debug level from an ini file? Or should I be using
RTAPI_MSG_ERROR for all my output? ;-)
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Theo: Julian? I haven't seen you in twenty years. You look good.
The picture the police have of you doesn't do you justice
Sebastian Kuzminsky wrote:
Sebastian Kuzminsky wrote:
[EMAIL PROTECTED] wrote:
Is there a script for building the deb file or do you have a link on how to
do
it? I did a quick search on linuxcnc.org but did not see how to do that.
You need to have the kernel headers for your target system
know).
Shouldnt your HAL file use variables from the INI file? (I've never
written an emc2 ini file so I dont know.)
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Theo: Julian? I haven't seen you in twenty years. You look good.
The picture the police have of you doesn't do you justice
settings (like 0, 0.5, and 1.0)
and for each one run setp hm_5i20.0.raw.dump-state 1, then send me the
dmesg and we'll see what we can see.
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Theo: Julian? I haven't seen you in twenty years. You look good.
The picture the police have of you doesn't do
to 0.5 inches/second (20K
steps/second), and gets following errors when trying to go faster than that.
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Theo: Julian? I haven't seen you in twenty years. You look good.
The picture the police have of you doesn't do you justice.
Julian: What do
Sebastian Kuzminsky wrote:
Matt Shaver wrote:
1. Following Errors - When I use:
axis.0.motor-pos-cmd == hm2_5i20.0.stepgen.00.position-cmd
axis.0.motor-pos-fb == hm2_5i20.0.stepgen.00.position-fb
I get following errors at higher axis speeds. I tried:
axis.0.motor-pos-fb
, available here:
http://highlab.com/~seb/bzr/emc2/hostmot2/src/hal/drivers/mesa-hostmot2/pwmgen.c
Are you doing a CVS checkout on the development machine? If so just
update to the top of TRUNK.
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Theo: Julian? I haven't seen you in twenty years. You look good
Richard Acosta wrote:
El 10/09/2008 03:04 p.m., Sebastian Kuzminsky escribió:
As far as I know, there does not yet exist a complete machine
configuration file for hostmot2. I believe Eric Johnson is working on
one, but for a stepper-based machine.
I don't know exactly how to write
?TroubleShooting#Parallel_port_no_longer_works_in_EMC_2_0_1_or_later_hal_parport_Device_or_resource_busy
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Much of what we learned from the sense of touch was unscientific
prejudice, which must be rejected if we are to have a true picture
of the world. -- Bertrand Russell
?
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Much of what we learned from the sense of touch was unscientific
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of the world. -- Bertrand Russell
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debug_modules=1
Then pastebin the dmesg output and mail us the link.
I'll hop on irc, come chat there if you want.
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Theo: Julian? I haven't seen you in twenty years. You look good.
The picture the police have of you doesn't do you justice.
Julian
debug_pin_descriptors=1 debug_modules=1
Then pastebin the dmesg output and mail us the link.
I'll hop on irc, come chat there if you want.
Something went wrong, that dmesg doesnt include the hostmot2 debug output.
--
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Theo: Julian? I haven't seen you in twenty years. You
I squished a silly bug with the hostmot2 pwmgen driver. It bit other
people but not me because I had an old forgotten work-around in the hal
config file I test with... If you had problems with pwmgen before,
please give CVS TRUNK a try again.
--
Sebastian Kuzminsky
Theo: Julian? I
parameter.
The pwmgen.XX.enable HAL pin gets initialized to 0 and sent to the FPGA
on module load. When the user changes the HAL pin, the new value is
sent to the FPGA. Eric, can you verify that the HAL enable pin for the
PWM in question does get set to 1?
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Much of what we
the
configuration. They're available here:
http://www.linuxcnc.org/docs/devel/
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Much of what we learned from the sense of touch was unscientific
prejudice, which must be rejected if we are to have a true picture
of the world. -- Bertrand Russell
Sebastian Kuzminsky wrote:
The pwmgen.XX.enable HAL pin gets initialized to 0 and sent to the FPGA
on module load. When the user changes the HAL pin, the new value is
sent to the FPGA. Eric, can you verify that the HAL enable pin for the
PWM in question does get set to 1?
Another thing
. Then
twiddle pwmgen.00.enable high and low and see if the voltage on pin 23
varies as expected (0V when .enable is 1).
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Much of what we learned from the sense of touch was unscientific
prejudice, which must be rejected if we are to have a true picture
of the world
them change when we turn the encoder? so
far no change?
I am near gettysburg pa is their anyone that is close? thanks Ellery
If you run halcmd show all from a shell, what does it say?
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running for that command to work. Try
it again and attach the output.
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far only one PCI board (the 5i20) and the 7i43 EPP board are
supported. Support for the other PCI boards is planned but not done yet.
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widely deployed yet, so reliablity figures are not really
available.
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time between
measurements. It gets position-fb correctly despite the velocity confusion.
If maxaccel is too high it can overshoot its position-cmd slightly and
then immediately correct itself. I'll try to fix this, RSN.
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to work on this right now...
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more hazardous than doing anything that
stays within the assigned block of addresses for the par port.
Any comments?
Luckily we have the best parport driver in the world to use as a
reference - just do whatever the Linux parport driver does, and you're good.
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Computer
almost no effect.
The hostmot2 stepgen driver does not yet support maxaccel or maxvel.
The stepgen code is very simplistic, I'm planning to fix it up and make
it feature-complete (for step/dir and up/down) in the next few days.
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.
4. Set hm2_5i20.0.raw.write_strobe to 1.
When the hm2_5i20.0.write function next runs, the steppers will start
working.
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://highlab.com/~seb/bzr/emc2/5i20-stepgen-fix
This is against CVS TRUNK, though the change should work identically on
2.2.6. The only change is in src/hal/drivers/mesa-hostmot2/stepgen.c.
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Cryogenic travel has improved since then... I woke screaming in a
translucent box
-attempt-Date: Thu, 14 Aug 2008 15:22:50 +
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Cryogenic travel has improved since then... I woke screaming in a
translucent box. “There, there,” said the box. “Everything will be all
right. Have some coffee.” -- Ken Macleod, Who's afraid of Wolf 359
http
this branch:
http://highlab.com/~seb/bzr/emc2/5i20-stepgen-fix
You can fetch it with http or bzr. If you have a CVS tree checked out,
you can just grab src/hal/drivers/mesa-hostmot2/stepgen.c. It should
work on both TRUNK and the 2.2 branch.
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Cryogenic travel has
any debugging in rtai or hostmot2.
Please send me your /var/log/syslog and the output of dmesg.
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Computer Science for life, that's my direction
Instead of b-balls, my homies throw exceptions -- MC Plus
Sebastian Kuzminsky wrote:
Eric H. Johnson wrote:
One more quick question. When you say the pinout is written to the system
log, which log is that? I don't see it through dmesg or by setting debug to
the maximum value.
On my Ubuntu Gutsy computers it shows up in dmesg and /var/log/syslog
is WARNING, and they're not
warnings
Try this: run echo 4 | sudo dd of=/proc/rtapi/debug after realtime
start but before loading the hostmot2 driver. Then run dmesg again and
send it to me (not to the list).
Thanks!
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of
the disabled module instances become GPIOs. Does this make sense?
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to your servo/stepper drivers
gpio. Something like this might be useful (link from the EMC2 Wiki):
http://www.daqstuff.com/50_pin_daq.htm
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Computer Science for life, that's my direction
Instead of b-balls, my homies throw exceptions -- MC Plus
Jon Elson wrote:
Sebastian Kuzminsky wrote:
If I disable the steppers on the 7i43 (with config=num_steppers=0) and
run it with 4 servo channels (and 24 accessible GPIOs), I get these figures:
read time=191, tmax=203
write time=190, tmax=239
That's about 1 KHz.
Very interesting
Jon Elson wrote:
Sebastian Kuzminsky wrote:
Yeah something's not right there, 190 us is way too long.
Hm, these numbers come from 'halcmd show param hm2_7i43.*.time', which I
thought was in nanoseconds, but looking at hal_lib.c I see that it's in
CPU clock cycles. Is that intentional
Accumulator still shows 0.
Both go through the same code path in the hostmot2 driver, so this
behavior is strange to me.
Peter, could you make the stepgen Rate register read/write, so I can
read back the command for sanity checking?
--
Sebastian Kuzminsky
Cryogenic travel has improved since then... I
Sebastian Kuzminsky wrote:
My test setup consists of a PC running emc2 TRUNK. It's got a 7i43
plugged into a parport and a 5i20 on the PCI bus. The 7i43 has two
steppers on it, and the 5i20 has 3 servos on it.
This setup conspicuously doesnt test steppers on the 5i20 or servos on
the 7i43
Jon Elson wrote:
Sebastian Kuzminsky wrote:
Jon Elson wrote:
OK, same problem as my PPMC line, then. But, 1 KHz isn't fast
enough? Or, does handling the Mesa's 72 I/O points take a lot
longer than my 24?
I haven't done speed tests of the 7i43 with hostmot2 for a while, but i
think low
for a while, but i
think low ones of KHz update rates are reasonable. Say 1-4 KHz or so.
That's for reading all the encoders, stepgens, and gpios, and writing
all the pwmgens, stepgens, and gpios.
--
Sebastian Kuzminsky
Cryogenic travel has improved since then... I woke screaming in a
translucent box
paul_c wrote:
On Sunday 10 August 2008, Sebastian Kuzminsky wrote:
It looks like rtai has semaphores but doesnt support blocking in the
kernel (no run queues). Maybe something like spinlocks could be built
around the non-blocking semaphore calls.
You want one of the rt_spinlock calls
is written to the system log when the driver is loaded.
It can't be too different if it is going to work with the existing
interface boards like the 7i33, 7i37, etc.
That's true - all the existing firmware images mate up well with the other Mesa
products.
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Sebastian Kuzminsky
You think you
John Kasunich wrote:
Sebastian Kuzminsky wrote:
John Kasunich wrote:
What's a use case where it's valuable to read/write the modules separately?
Mostly something like the arrangement Kirk Wallace has - software
stepping, using the GPIO for the step pulses. You might ask why do
software
!
--
Sebastian Kuzminsky
You think you can defeat me with your rebellious beard?
http://www.youtube.com/watch?v=k_QAPjtO2cA
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Sebastian Kuzminsky wrote:
I could add a threadsafe flag to the board driver struct, which gets
set by the board driver if the board I/O hardware is thread safe (PCI),
and cleared if it's not (EPP). The high-level hostmot2 driver would
examine this and only export the full read()/write
://bazaar.launchpad.net/~seb-highlab/emc/hostmot2/files/470?file_id=hostmot2-20080704040329-dmc6hkstgm2r40ep-1
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Sebastian Kuzminsky
You think you can defeat me with your rebellious beard?
http://www.youtube.com/watch?v=k_QAPjtO2cA
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