...@candrarthur.demon.co.uk
Sent: Sunday, October 18, 2009 8:43 PM
To: EMC Users emc-users@lists.sourceforge.net
Subject: [Emc-users] Hostmot2 homing index
I am moving from 2.17(working) to 2.33. I am using HM2-Servo 3 axis 5i20.
Halscope:
http://imagebin.org/68314
I expected homing
You probably need to connect the index-enable signal between the motion
controller and the encoder counter:
net Xindex-enable axis.0.index-enable = hm2_5i20.0.encoder.00.index-enable
(this is equivalent to the old-style
newsig Xindex-enable
linksp Xindex-enable axis.0.index-enable
That resolved it. I just wish I understood it properly :-)
Thank you.
Richard
Jeff Epler wrote:
You probably need to connect the index-enable signal between the motion
controller and the encoder counter:
net Xindex-enable axis.0.index-enable =
hm2_5i20.0.encoder.00.index-enable
(this
I am moving from 2.17(working) to 2.33. I am using HM2-Servo 3 axis 5i20.
Halscope:
http://imagebin.org/68314
I expected homing to complete at the index (gpio 005). Homing is at
level 16.
I added this to the standard io block in hm2-servo.hal:
# X axis limit and home
newsig Xminlim-and-home
motion knows index has happened.
Regards,
Alex
--
From: Richard Arthur rich...@candrarthur.demon.co.uk
Sent: Sunday, October 18, 2009 8:43 PM
To: EMC Users emc-users@lists.sourceforge.net
Subject: [Emc-users] Hostmot2 homing index
I am moving from
Does that make sense? If the terminator is really 100 ohms, that would
imply that the pull up is in the order of ten ohms. (Am I correct in my
assumption that the power supply is five volts?)
Ken
Leslie Newell wrote:
Hi Ken,
Yes, this was under load.
Les
Kenneth Lerman wrote:
Did
Hi Ken,
It does make sense. It looks like the encoder outputs are push-pull.
Just fro the record I never said they had pullups. Someone just
mentioned that some encoders do have weak pullups.
Les
Kenneth Lerman wrote:
Does that make sense? If the terminator is really 100 ohms, that would
Hi Peter,
What is the default value for the filter? I found that a value of 1
nearly sorted the problem. A value of 2 was pretty well rock solid. Just
to be sure I set it to 6 as my max frequency is well under 200kHz.
I guess it is already on your to-do list but I would guess that it would
be
: [Emc-users] Hostmot2 homing
Hi Peter,
What is the default value for the filter? I found that a value of 1
nearly sorted the problem. A value of 2 was pretty well rock solid. Just
to be sure I set it to 6 as my max frequency is well under 200kHz.
Default is 0x800 which gives divide by one (33
? An open collector output is just that, open collector. You need to
terminate it at the lead end with resistor according to the voltage you're
using, to the positive rail. Terminating with a 100R to ground is simply a
poor configuration.
Regards
Roland
2009/7/17 Jon Elson
Hi Peter,
One difference is that the TTL inputs have an RC filter, the differential
inputs have none.
Hmm, that could still point towards a noise issue then.
I wonder if your index outputs can drive the termination resistor. Have you
measured you index and /index outputs for reasonable
: [Emc-users] Hostmot2 homing
Hi Peter,
One difference is that the TTL inputs have an RC filter, the differential
inputs have none.
Hmm, that could still point towards a noise issue then.
I wonder if your index outputs can drive the termination resistor. Have you
measured you index
Hi Peter,
Each output swings from 0.48V to 4.1V. When IDX is high, /IDX is low.
Therefore the voltage between them is about 3.6V.
Les
What I was asking about (maybe not very well) is differential drive: in other
words measured between IDX and /IDX. This should be positive in one index
Did you measure that while it was connected to the receiver? If the
terminator is 100 ohms and the pull up is 1K ohms, the voltage under
load would only be around 400 mv. That should be fine, I think.
If the pull up is 10K, then you would have around 40 mv. I don't think
that would work too
: [Emc-users] Hostmot2 homing
Hi Peter,
Each output swings from 0.48V to 4.1V. When IDX is high, /IDX is low.
Therefore the voltage between them is about 3.6V.
Les
Well if the extra filtering of the TTL inputs helps, I would do the trick with
raw-write to setup the filter time constant
Hi Ken,
Yes, this was under load.
Les
Kenneth Lerman wrote:
Did you measure that while it was connected to the receiver? If the
terminator is 100 ohms and the pull up is 1K ohms, the voltage under
load would only be around 400 mv. That should be fine, I think.
If the pull up is 10K,
Hi Peter,
I have been doing some more tests on this. Playing around with filters
and screening had no noticeable effect. However I have hit an odd
anomaly. Just out of interest I switched the 7I29 to single ended input
and suddenly it is rock solid. So it can't be noise pickup in the
cabling.
: [Emc-users] Hostmot2 homing
Hi Peter,
I have been doing some more tests on this. Playing around with filters
and screening had no noticeable effect. However I have hit an odd
anomaly. Just out of interest I switched the 7I29 to single ended input
and suddenly it is rock solid. So it can't
Leslie Newell wrote:
Another odd thing - in differential mode if I disconnect one line the
input toggles randomly, obviously picking up noise. Again, shouldn't a
balanced input give no output with one line disconnected?
No. Unless either a bias is added to the inputs, or the comparator
Peter C. Wallace wrote:
One difference is that the TTL inputs have an RC filter, the differential
inputs have none.
I wonder if your index outputs can drive the termination resistor. Have you
measured you index and /index outputs for reasonable differential output
voltage when terminated
Peter C. Wallace wrote:
Unfortunately, the HM2 driver does not support lowering the encoder sample
rate sample rate yet
The only control over the encoder sample rate that the hostmot2 driver
currently exposes is the quadrature filter bit.
From the hostmot2(9) manpage:
(bit r/w) filter: If
John Kasunich wrote:
A simple test to see if screened cable will help can be done with some
aluminum foil. Make a screen around the cable, ground it, and see if
it helps. Just be carefull that the exposed foil doesn't short anything.
Like this? :-)
That looks like Morgus the Magnificent at work.
Anyone know who that is?
John
On 12 Jul 2009 at 16:30, Sebastian Kuzminsky wrote:
John Kasunich wrote:
A simple test to see if screened cable will help can be done with
some
aluminum foil. Make a screen around the cable, ground it, and
Hi Peter,
If it is edge sensitive then as you say, inverting the signal has little
effect. I was going by your previous statement where you said it was
dependent on the state. After doing more tests, noise looks to be a
possible culprit. It seems odd that I have a relatively bad noise
problem
: [Emc-users] Hostmot2 homing
Hi Peter,
If it is edge sensitive then as you say, inverting the signal has little
effect. I was going by your previous statement where you said it was
dependent on the state. After doing more tests, noise looks to be a
possible culprit. It seems odd that I have
Leslie,
If you are using this under florescent lights you will pick-up a lot of
noise on a four foot cable. If the cable is shielded it shouldn't pick
up much noise though.
Is the cable shielded?
LennyWayne
Leslie Newell wrote:
Hi Peter,
If it is edge sensitive then as you say, inverting the
Thanks Peter,
rate sample rate yet, but this could be tried by using the raw-write command
in your HAL init file. With a 5I20, the encoder sample rate is 33 MHz, when
the filter is on, 15 clocks are required to recognize an input (the ~.5 uSec
above) If for example the sample rate were
Hi Wayne,
It isn't that near a fluorescent light but it is obviously in close
proximity to the motor cables and it is also in the same cabinet as the
7.5kW spindle inverter.
The cable isn't screened. Screened 50 way ribbon cable is difficult to
obtain and very expensive.
Les
Wayne
: [Emc-users] Hostmot2 homing
Thanks Peter,
rate sample rate yet, but this could be tried by using the raw-write command
in your HAL init file. With a 5I20, the encoder sample rate is 33 MHz, when
the filter is on, 15 clocks are required to recognize an input (the ~.5 uSec
above) If for example
Leslie Newell wrote:
Hi Wayne,
It isn't that near a fluorescent light but it is obviously in close
proximity to the motor cables and it is also in the same cabinet as the
7.5kW spindle inverter.
The cable isn't screened. Screened 50 way ribbon cable is difficult to
obtain and very
: [Emc-users] Hostmot2 homing
On Fri, 10 Jul 2009, Leslie Newell wrote:
Date: Fri, 10 Jul 2009 19:29:55 +0100
From: Leslie Newell les.new...@fastmail.co.uk
Reply-To: Enhanced Machine Controller (EMC)
emc-users@lists.sourceforge.net
To: Enhanced Machine Controller (EMC) emc-users
Thanks,
I'll take a look.
Les
Take a look at the HostMot2 manual page about raw-write and the regmap file.
The sample rate of all encoders in HM2 is controlled by the QFilterRate
register at offset 0x3400. If you set this register to 0x008 you will have 10
times longer filter time
Hi Peter,
I can't see any way of achiving a trip in 20ms. I have the PID
saturation limit hooked to my estop chain but it only trips once the amp
reaches full output (BTW, the hostmot2 example config does not implement
this). If the I term doesn't build up quickly to saturate the output
then
: [Emc-users] Hostmot2 homing
Hi Peter,
I can't see any way of achiving a trip in 20ms. I have the PID
saturation limit hooked to my estop chain but it only trips once the amp
reaches full output (BTW, the hostmot2 example config does not implement
this). If the I term doesn't build up quickly
Hi Peter,
I can't see any way of achiving a trip in 20ms. I have the PID
saturation limit hooked to my estop chain but it only trips once the amp
reaches full output (BTW, the hostmot2 example config does not implement
this). If the I term doesn't build up quickly to saturate the output
Hi Peter,
With a small error (1 count or so) thats possible but that also most likely
indicates that your integral term is way too low.
LOL. Most people have been telling mee i'm using too MUCH I term...
Thats probably something that should be fixed in the PID component (indicate
saturate
Hi Peter,
Interesting idea. You probably still need a delay to allow for braking.
This isn't a real problem to implement though.
Les
Peter C. Wallace
That gives me another idea: if commanded velocity is 0, set the PID output
limit to 20% or so and use the PID saturate
: [Emc-users] Hostmot2 homing
Hi Peter,
With a small error (1 count or so) thats possible but that also most likely
indicates that your integral term is way too low.
LOL. Most people have been telling mee i'm using too MUCH I term...
I think somehow the P and I terms for HostMot2 are different
: [Emc-users] Hostmot2 homing
Hi Peter,
Interesting idea. You probably still need a delay to allow for braking.
This isn't a real problem to implement though.
Les
Peter C. Wallace
That gives me another idea: if commanded velocity is 0, set the PID output
limit to 20% or so and use the PID
How about tripping if the PID output is greater than a certain
percentage and the encoder velocity is below a certain threshold?
Les
Peter C. Wallace wrote:
I think the nuisance tripping can be avoided with the right time delay
in other words if your PID output or integral term are saturated
: [Emc-users] Hostmot2 homing
How about tripping if the PID output is greater than a certain
percentage and the encoder velocity is below a certain threshold?
Run the PID output through the LP filter before the test and that may well
work (the PID output will be fairly noisy at low speeds until
Now I have the motor tuning sorted out and here is my next problem...
I am using hostmot2 and trying to use index and home switch. My setup is
as follows:
hm2 configuration:
loadrt driver=hm2_pci config=firmware=hm2/5i20/SV12.BIT num_encoders=6
num_pwmgens=6 num_stepgens=0
net xinex-en
On Thu, Jul 09, 2009 at 04:28:23PM +0100, Leslie Newell wrote:
Watching GPIO 28 with halmeter I can see the index so the hardware is
working correctly, going TRUE when the index is active.
When I home, it appears to ignore the index completely. The machine hits
the home switch, backs off
On Thu, 9 Jul 2009, Chris Radek wrote:
Date: Thu, 9 Jul 2009 11:13:07 -0500
From: Chris Radek ch...@timeguy.com
Reply-To: Enhanced Machine Controller (EMC)
emc-users@lists.sourceforge.net
To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net
Subject: Re: [Emc-users
On Thu, Jul 09, 2009 at 10:51:07AM -0600, Sebastian Kuzminsky wrote:
GPIO 28 is the I/O pin used for Index for encoder #5 on the firmware Les
is using. He's watching the raw value on the input pin, bypassing the
encoder, to verify that his wiring is correct.
OK, so he may only see a
Basically it is ignoring the index signal. If I press home and manually
operate the home switch I can get it to home anywhere. Doing this it
should only home to an integer multiple of the screw pitch. I just tried
homing with HOME_SEARCH_VEL = 0 and that works correctly. It sees the
index and
: [Emc-users] Hostmot2 homing
Basically it is ignoring the index signal. If I press home and manually
operate the home switch I can get it to home anywhere. Doing this it
should only home to an integer multiple of the screw pitch. I just tried
homing with HOME_SEARCH_VEL = 0 and that works
On Thu, Jul 09, 2009 at 07:02:09PM +0100, Leslie Newell wrote:
By the way, for some reason I have a following error problem when
homing. Just after the home switch/index releases I can hear the machine
thump and get a joint following error unless I turn the limits way high.
This is
That was one of the first things I tried. I have now found the problem.
encoder.nn.index-invert does not work. Setting it to 1 or 0 makes no
difference (at least for encoder 05). Inverting the index pulse by
physically swapping the encoder outputs sorted the problem.
Les
Did you try index
Hi Chris,
You may regret asking that :-). Here we go:
ini
http://pastebin.ca/1490014
Hal is broken into a number of files
load.hal - loads modules
http://pastebin.ca/1490015
motion.hal - motion control
If the spindle code looks complicated it is because of the three speed
electromechanical
Leslie Newell wrote:
Hi Chris,
You may regret asking that :-). Here we go:
ini
http://pastebin.ca/1490014
Hal is broken into a number of files
To be honest, one of the best ways to share your HAL config is to start
EMC, and then (in another shell) run halcmd show all, redirect the
Here you go...
http://pastebin.ca/1490066
Les
John Kasunich wrote:
To be honest, one of the best ways to share your HAL config is to start
EMC, and then (in another shell) run halcmd show all, redirect the
output to a file, and post that. The show all command will show you
every pin,
: [Emc-users] Hostmot2 homing
That was one of the first things I tried. I have now found the problem.
encoder.nn.index-invert does not work. Setting it to 1 or 0 makes no
difference (at least for encoder 05). Inverting the index pulse by
physically swapping the encoder outputs sorted the problem
53 matches
Mail list logo
