Re: [Emc-users] DIY output driver
On 28 January 2012 06:23, Viesturs Lācis viesturs.la...@gmail.com wrote: BTW client was happy, when he saw the first hand-burned lines in the wood that I managed to do last night in that small moment, when the laser was working... Can I suggest two other options? 1) Put the existing laser into stock for a future project and buy one of the ones shown on eBay earlier with a TTL on/off control. or 2) Try to find an SSR that will do the trick, there are some that look like they should work: http://uk.rs-online.com/web/p/solid-state-relays/7203940/ (I found that one by filtering for current carrying capacity then sorting by price, and looking down the list for the first DC-rated one. It needs 10mA to switch, which I think is OK for a Mesa card) -- atp The idea that there is no such thing as objective truth is, quite simply, wrong. -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Homing
On 28 January 2012 11:33, Viesturs Lācis viesturs.la...@gmail.com wrote: I have set the homing sequence that Z homes first and then all the remaining joints. If they share a home, they need to home in strict sequence one at a time. However, reading more carefully, it sounds like you are homing Z to a shared limit, but the other axes have home switches. What else am I missing here? Possibly HOME_IS_SHARED ? http://www.linuxcnc.org/docview/html/config_ini_homing.html After a long search I found this one in manual: To use only one input for all homing and limits you will have to block the limits of the axis not homing with axis that is homing in HAL. I think that it could be done this way: loadrt mux2 axis.2.homing = mux2.sel mux2 doesn't work with boolean data, unfortunately. Is there any other simple and easy way to do it? Guessing that you are looking at the inverted pins, so that 1 = tripped, then you want limits AND NOT z-homing. loadrt and2 loadrt not net home-not axis.2.homing = not.0.in net limit-mask and2.0.in0 = not.0.out net all-limits-in and2.0.in1 net all-limits-out and2.0.out I have another problem: Z should home on its upper position and stay there. So in INI file I set: HOME = 180.000 HOME_OFFSET = 180.00 It homes, sets joint coordinates to 180 and goes to 0 ignoring HOME = 180. It's been a while, but I think HOME_OFFSET is the distance from the switch point to the home position, so if the home switch is at 180 and the home position is 180 then HOME_OFFSET is zero. -- atp The idea that there is no such thing as objective truth is, quite simply, wrong. -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
Jon, What is FF0 used for if it should be set to 0 for a motion axis? Thanks John On 1/27/2012 8:16 PM, Jon Elson wrote: Viesturs Lācis wrote: In my previous attempts I had: DEADBAND = 0.0005 P = 90 I = 40 D = 1,65 FF0 = 0 FF1 = 1,5 FF2 = 0 BIAS = 0,0005 FF0 should always be zero on a motion axis. It creates an offset that varies with position. FF1 should always be much less than P. FF2 seems like it should always be much less than FF1. Too much D may cause instability. Jon -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] question on gcode parsing
a bit of trawling yielded this: http://fennetic.net/irc/emc3/src/emc/interpreter/ this has rs274 parsers done with ANTLR, and bison/flex I have no idea what the status is -m Am 21.01.2012 um 16:31 schrieb Scott Hasse: All- I'm thinking about writing some gcode filters for EMC2 in python, and want to make these as robust and flexible as possible. To that end, I'm wondering if there is a typical approach to parsing and validating arbitrary-format gcode into some sort of canonical form so that a text-based approach to transformation could be more generically written. I see there is rs274 python bindings, but the API for that is not clear to me. It seems it is for parsing gcode, but I don't see how I would use it to pretty print or normalize a gcode file for subsequent processing. In particular my first goal is a filter that would take XYZ input and with some parameters (radius, etc.) wrap the Y axis around an A axis. Any advice on that particular problem or alternate approaches is certainly welcome. I've very much enjoying EMC2 and am working on my second machine conversion (an Anilam 3300) using Mesa 5i23 after finishing building and integrating a stepper-based rotary table: http://code.google.com/p/sector67-sandbox/wiki/FourthStepperAxis Thus my need for some software to generate A axis gcode :-) Thanks much! Scott -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Homing
I have another problem: Z should home on its upper position and stay there. So in INI file I set: HOME = 180.000 HOME_OFFSET = 180.00 It homes, sets joint coordinates to 180 and goes to 0 ignoring HOME = 180. It's been a while, but I think HOME_OFFSET is the distance from the switch point to the home position, so if the home switch is at 180 and the home position is 180 then HOME_OFFSET is zero. For what i know OFFSET should be the same of HOME, if you want the joint to stay there. (at least my machine work like this..) so: HOME = 180.0 HOME_OFFSET = 180.0 Davide. -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Homing
2012/1/28 andy pugh bodge...@gmail.com: mux2 doesn't work with boolean data, unfortunately. I do not know, what is boolean, but You are right - it did not want to work, because limit/homing switches are bit pins, mux2 inputs and output are float. So I created mux2bit component, where I fixed this... So that part is working. 2012/1/28 Spiderdab 77...@tiscali.it: I have another problem: Z should home on its upper position and stay there. So in INI file I set: HOME = 180.000 HOME_OFFSET = 180.00 It homes, sets joint coordinates to 180 and goes to 0 ignoring HOME = 180. It's been a while, but I think HOME_OFFSET is the distance from the switch point to the home position, so if the home switch is at 180 and the home position is 180 then HOME_OFFSET is zero. For what i know OFFSET should be the same of HOME, if you want the joint to stay there. (at least my machine work like this..) so: HOME = 180.0 HOME_OFFSET = 180.0 Yes, I know that it _should_ But it does not! Andy, it is working correctly up to the point, where it trips the switch and sets the joint position as stated by home_offset. The mysterious part is: Why on earth it has to move to 0, when HOME is set to be equal with HOME_OFFSET, sho it should just stay there... I am using 2.5.pre2-18-g799075f BTW the best part is that both Y joints also are homing in their positive end and they work correctly. Here are the INI settings: # Y1 [AXIS_1] TYPE = LINEAR MAX_VELOCITY = 66.667 MAX_ACCELERATION = 120.0 BACKLASH = 0.000 FERROR =100.050 MIN_FERROR =100.010 # INPUT_SCALE = 3276.8 INPUT_SCALE = -3276.8 OUTPUT_SCALE = -71 OUTPUT_OFFSET = 0.0 MAX_OUTPUT =66.667 MIN_LIMIT = 0.0 MAX_LIMIT = 1405.0 HOME = 1400.0 HOME_OFFSET = 1400 HOME_FINAL_VEL =10 HOME_SEARCH_VEL = 2 HOME_LATCH_VEL =-0.5 HOME_USE_INDEX =NO HOME_IGNORE_LIMITS =YES HOME_SEQUENCE = 1 # PID tuning params DEADBAND = 0.002 P = 10 I = 0 D = 0 FF0 = 0 FF1 = 0 FF2 = 0 BIAS = 0 # Z [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 15 MAX_ACCELERATION = 60.0 STEPGEN_MAXACCEL = 70.0 BACKLASH = 0.000 SCALE = -400 MIN_LIMIT = -10.0 MAX_LIMIT = 20.0 FERROR = 0.050 MIN_FERROR = 0.005 HOME = 10.000 HOME_OFFSET = 10.00 HOME_SEARCH_VEL = 2.0 HOME_LATCH_VEL =-0.5 HOME_USE_INDEX =NO HOME_IGNORE_LIMITS =YES HOME_SEQUENCE = 0 # these are in nanoseconds DIRSETUP = 4000 DIRHOLD= 4000 STEPLEN= 4000 STEPSPACE = 4000 # Y2 [AXIS_3] TYPE = LINEAR MAX_VELOCITY = 66.667 MAX_ACCELERATION = 120.0 BACKLASH = 0.000 FERROR =100.050 MIN_FERROR =100.010 # INPUT_SCALE = 3276.8 INPUT_SCALE = -3276.8 OUTPUT_SCALE = -71 OUTPUT_OFFSET = 0.0 MAX_OUTPUT =66.667 MIN_LIMIT = 0.0 MAX_LIMIT = 1405.0 HOME = 1400.0 HOME_OFFSET = 1400 HOME_FINAL_VEL =10 HOME_SEARCH_VEL = 2 HOME_LATCH_VEL =-0.5 HOME_USE_INDEX =NO HOME_IGNORE_LIMITS =YES HOME_SEQUENCE = 1 # PID tuning params DEADBAND = 0.002 P = 380 I = 10 D = 1.9 FF0 = 0 FF1 = 0.1 FF2 = 0 BIAS = 0 Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] question on gcode parsing
On 1/28/2012 9:20 AM, Michael Haberler wrote: a bit of trawling yielded this: http://fennetic.net/irc/emc3/src/emc/interpreter/ this has rs274 parsers done with ANTLR, and bison/flex I have no idea what the status is -m Michael: Interesting...the directory bits irc/emc3 certainly suggests irc conversations on the subject took place some five years ago. Did you look at the stuff in the irc/emc3/docs directory? The file EMC3_Architecture.doc reads like the conversations on this list the past few days. I suppose a first item of business with the rs274ngc parser code would be to examine the grammar. As a start, I just looked at the Parser and rs274ngcTokenTypes files. I don't see a case statement or token for the O word, so some work has been left to the interested student with regard to the flow-control codes. I don't have time to dig deeper. That this parser work already exists is another proof of something my thesis adviser told me long ago: there are rarely new ideas, just new attempts to implement them. Regards, Kent -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
On Sat, 28 Jan 2012, Viesturs L?cis wrote: Date: Sat, 28 Jan 2012 11:25:00 +0200 From: [UTF-8] Viesturs L?cis viesturs.la...@gmail.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] Servo tuning - wtf? Hello! I have spent some time with the machine and have tried some of the suggestions. 2012/1/27 andy pugh bodge...@gmail.com: At that speed with a 2-pole motor a 1ms servo period ought to be OK, but you should try 500uS to see if that helps. This was the only thing that helped - I reduced servo period to 500 us and the motor oscillation borderline shifted from 3660 mm/min to 5114 mm/min. Reducing servo period down to 250 us did not provide any additional improvement. What happens if you disconnect the PID (and the motors from the machine!) and setp bldc.0.value 0.95 ? I did the following: # net motor.00.command pid.0.output = bldc.0.value setp bldc.0.value 0.95 Result: nothing. Motor does not move. If I change back: net motor.00.command pid.0.output = bldc.0.value # setp bldc.0.value 0.95 Then I can jog motor. I tried 3 times switching back and forth - with PID disconected and BLDC value set to 0,95 motor does not move. Thats very strange, the motor should run at full speed with a fixed bldc drive value. Can you post your hal file somewhere (like pastebin.com) 2012/1/27 Peter C. Wallace p...@mesanet.com: So if you set the PID comps MAX_OUTPUT to 158 (and PWM scale is 166.67) that will limit maximum PWM to the desired 95% I reduced those values and also set max output to be less than 95% of output scale: OUTPUT_SCALE = 125 OUTPUT_OFFSET = 0.0 MAX_OUTPUT =118 It did not provide any additional improvement. It would not provide any improvement, just prevent pathological behaviour if the PID sets the PWM to 100% (which should be prevented) So this far only reducing servo period did help. Unfortunately that is coming with RTAI error warning messages. I ran latency test for a while and got 12000 ns max jitter on servo thread. Viesturs Is this on a 5I23? 2 KHz should be easy (I am running a 8I20 test at 6 KHz currently with a 5I23) Do you have a base thread? (you shouldn't need one) -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
All interested in Servo Tuning. Have a look at: http://support.motioneng.com/Downloads-Notes/Tuning/default.htm Regards, Noel. -Original Message- From: Viesturs Lācis [mailto:viesturs.la...@gmail.com] Sent: Saturday, January 28, 2012 1:25 AM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] Servo tuning - wtf? Hello! I have spent some time with the machine and have tried some of the suggestions. 2012/1/27 andy pugh bodge...@gmail.com: At that speed with a 2-pole motor a 1ms servo period ought to be OK, but you should try 500uS to see if that helps. This was the only thing that helped - I reduced servo period to 500 us and the motor oscillation borderline shifted from 3660 mm/min to 5114 mm/min. Reducing servo period down to 250 us did not provide any additional improvement. What happens if you disconnect the PID (and the motors from the machine!) and setp bldc.0.value 0.95 ? I did the following: # net motor.00.command pid.0.output = bldc.0.value setp bldc.0.value 0.95 Result: nothing. Motor does not move. If I change back: net motor.00.command pid.0.output = bldc.0.value # setp bldc.0.value 0.95 Then I can jog motor. I tried 3 times switching back and forth - with PID disconected and BLDC value set to 0,95 motor does not move. 2012/1/27 Peter C. Wallace p...@mesanet.com: So if you set the PID comps MAX_OUTPUT to 158 (and PWM scale is 166.67) that will limit maximum PWM to the desired 95% I reduced those values and also set max output to be less than 95% of output scale: OUTPUT_SCALE = 125 OUTPUT_OFFSET = 0.0 MAX_OUTPUT =118 It did not provide any additional improvement. So this far only reducing servo period did help. Unfortunately that is coming with RTAI error warning messages. I ran latency test for a while and got 12000 ns max jitter on servo thread. Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] question on gcode parsing
Am 28.01.2012 um 16:20 schrieb Kent A. Reed: On 1/28/2012 9:20 AM, Michael Haberler wrote: http://fennetic.net/irc/emc3/src/emc/interpreter/ I suppose a first item of business with the rs274ngc parser code would be to examine the grammar. As a start, I just looked at the Parser and rs274ngcTokenTypes files. I don't see a case statement or token for the O word, so some work has been left to the interested student with regard to the flow-control codes. I don't have time to dig deeper. I'm having a look at bison parser, I'm more familiar with that. The syntax clearly predates O-word control structure; UV missing too. It's pretty much from the EBNF in the RS274NGC_3 paper. This obviously never reached production stage - there are numerous typos although it compiles. Looks ok to shorten the way though. .m -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
Kent A. Reed wrote: I don't interpret this simple method to mean add I to increase stability but perhaps that just shows I don't know PID theory and practice. and I was wondering about this. I agree with you that it is D that increases stability (up to a point). If this is truly a typo, we need to get it corrected. If you could identify the problem sections I'd be happy to help reconcile them. It may be in the Wiki section that John Kasunich (I think) wrote about PID. If it is from him, then either it is something I still don't understand, or is a simple typo. I had been reluctant to report it as an error, as it seemed wrong to me, but I was still thinking it might be due to my lack of deeper understanding, and might actually be correct. I will look this weekend for the place(s) it appears and document that, at least. Jon -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
John Thornton wrote: Jon, What is FF0 used for if it should be set to 0 for a motion axis? I used to think it was useless, but if you use the PID for a spindle speed control, for instance, then it is quite useful for a velocity servo. It serves about the same purpose as FF1 in a positioning servo. In a positioning servo, it would add an offset proportional to position. In a velocity servo, it would add an offset proportional to speed, thereby correcting for finite gain in the loop. Jon -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
2012/1/28 Peter C. Wallace p...@mesanet.com: I tried 3 times switching back and forth - with PID disconected and BLDC value set to 0,95 motor does not move. Thats very strange, the motor should run at full speed with a fixed bldc drive value. Can you post your hal file somewhere (like pastebin.com) Done: http://pastebin.com/0M1ASyhB I tried one more, this time with joint1 (Y1 section in HAL file). What I did: Changed to trivkins Added setp bldc.1.value 0.95 Commented out pid.1.out = bldc.1.value Still the same - no movement. If I reattach pid.1, I can jog the motor. It would not provide any improvement, just prevent pathological behaviour if the PID sets the PWM to 100% (which should be prevented) So this far only reducing servo period did help. Unfortunately that is coming with RTAI error warning messages. I ran latency test for a while and got 12000 ns max jitter on servo thread. Is this on a 5I23? Yes, 5i23 with 2x 7i39s. 2 KHz should be easy (I am running a 8I20 test at 6 KHz currently with a 5I23) Do you have a base thread? (you shouldn't need one) No base thead. The PC is: Intel D525MW 2GB RAM 4GB CompactFlash in SATA adapter I have been trying to get the tuning right. So far I have managed to get one motor move smoothly up to 4000 mm/min. In HALScope it seems that f-error stays within 0,1 mm during movement, which I find to be accetable, static f-error is less than 0,003 mm. Here are PID parameters for that motor: # PID tuning params DEADBAND = 0.002 P = 380 I = 10 D = 1.9 FF0 = 0 FF1 = 0.1 FF2 = 0 BIAS = 0 I hav a problem with remaining 2 motors. Firstly I thought that I might copy these settings, since drives and motors are equal and then try to adjust for the different load. That failed. Then I started from scratch and I cannot find any settings to turn the motors smoothly. I set everything to 0, P to 1 and it is already oscillating. Then I set P and got joint exceeded following error. The f-error is set to 100 mm, so obviously P should be higher. I have tried numerous values between 1 and 300, but nowehere I get smooth motion. What should I do? 2012. gada 28. janvāris 18:14 noel noel.ro...@comcast.net rakstīja: All interested in Servo Tuning. Have a look at: http://support.motioneng.com/Downloads-Notes/Tuning/default.htm Thank You! I will do some reading. Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
Thank you Noel. Also for those interested in determining which one of six servo control system models their particular hardware falls into (so you know which parameters to change BEFORE tuning) buy this book: Control System Design Guide by George Ellis It helped me a great deal. Jim - Original Message - From: noel noel.ro...@comcast.net To: 'Enhanced Machine Controller (EMC)' emc-users@lists.sourceforge.net Sent: Sat Jan 28 10:14:09 2012 Subject: Re: [Emc-users] Servo tuning - wtf? All interested in Servo Tuning. Have a look at: http://support.motioneng.com/Downloads-Notes/Tuning/default.htm Regards, Noel. -Original Message- From: Viesturs Lācis [mailto:viesturs.la...@gmail.com] Sent: Saturday, January 28, 2012 1:25 AM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] Servo tuning - wtf? Hello! I have spent some time with the machine and have tried some of the suggestions. 2012/1/27 andy pugh bodge...@gmail.com: At that speed with a 2-pole motor a 1ms servo period ought to be OK, but you should try 500uS to see if that helps. This was the only thing that helped - I reduced servo period to 500 us and the motor oscillation borderline shifted from 3660 mm/min to 5114 mm/min. Reducing servo period down to 250 us did not provide any additional improvement. What happens if you disconnect the PID (and the motors from the machine!) and setp bldc.0.value 0.95 ? I did the following: # net motor.00.command pid.0.output = bldc.0.value setp bldc.0.value 0.95 Result: nothing. Motor does not move. If I change back: net motor.00.command pid.0.output = bldc.0.value # setp bldc.0.value 0.95 Then I can jog motor. I tried 3 times switching back and forth - with PID disconected and BLDC value set to 0,95 motor does not move. 2012/1/27 Peter C. Wallace p...@mesanet.com: So if you set the PID comps MAX_OUTPUT to 158 (and PWM scale is 166.67) that will limit maximum PWM to the desired 95% I reduced those values and also set max output to be less than 95% of output scale: OUTPUT_SCALE = 125 OUTPUT_OFFSET = 0.0 MAX_OUTPUT =118 It did not provide any additional improvement. So this far only reducing servo period did help. Unfortunately that is coming with RTAI error warning messages. I ran latency test for a while and got 12000 ns max jitter on servo thread. Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users This communication is for the use of the intended recipient only. It may contain information that is privileged and confidential. If you are not the intended recipient of this communication, the disclosure, copying, distribution or use hereof is prohibited. If you have received this communication in error, please advise me by return e-mail or by telephone and then delete it immediately. attachment: winmail.dat-- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
2012. gada 28. janvāris 18:14 noel noel.ro...@comcast.net rakstīja: All interested in Servo Tuning. Have a look at: http://support.motioneng.com/Downloads-Notes/Tuning/default.htm In the link from Noel I find that all three (well, the last maybe not that much) PID tuning methods: http://support.motioneng.com/Downloads-Notes/Tuning/3_pid_tune.htm Suggest starting with finding correct D parameter, as opposed to previously expressed opinions that P parameter is the one to start with. Can anyone with experience in servo tuning comment on this? Can anyone comment on this? Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
Il giorno sab, 28/01/2012 alle 08.14 -0800, noel ha scritto: All interested in Servo Tuning. Have a look at: http://support.motioneng.com/Downloads-Notes/Tuning/default.htm Regards, Noel. Really much interesting! Thanks! Davide. -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
On Sat, 28 Jan 2012, Viesturs L?cis wrote: Date: Sat, 28 Jan 2012 18:42:03 +0200 From: [UTF-8] Viesturs L?cis viesturs.la...@gmail.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] Servo tuning - wtf? 2012/1/28 Peter C. Wallace p...@mesanet.com: I tried 3 times switching back and forth - with PID disconected and BLDC value set to 0,95 motor does not move. Thats very strange, the motor should run at full speed with a fixed bldc drive value. Can you post your hal file somewhere (like pastebin.com) Done: http://pastebin.com/0M1ASyhB I tried one more, this time with joint1 (Y1 section in HAL file). What I did: Changed to trivkins Added setp bldc.1.value 0.95 Commented out pid.1.out = bldc.1.value Still the same - no movement. If I reattach pid.1, I can jog the motor. It would not provide any improvement, just prevent pathological behaviour if the PID sets the PWM to 100% (which should be prevented) So this far only reducing servo period did help. Unfortunately that is coming with RTAI error warning messages. I ran latency test for a while and got 12000 ns max jitter on servo thread. Is this on a 5I23? Yes, 5i23 with 2x 7i39s. 2 KHz should be easy (I am running a 8I20 test at 6 KHz currently with a 5I23) Do you have a base thread? (you shouldn't need one) No base thead. The PC is: Intel D525MW 2GB RAM 4GB CompactFlash in SATA adapter I have been trying to get the tuning right. So far I have managed to get one motor move smoothly up to 4000 mm/min. In HALScope it seems that f-error stays within 0,1 mm during movement, which I find to be accetable, static f-error is less than 0,003 mm. Here are PID parameters for that motor: # PID tuning params DEADBAND = 0.002 P = 380 I = 10 D = 1.9 FF0 = 0 FF1 = 0.1 FF2 = 0 BIAS = 0 I hav a problem with remaining 2 motors. Firstly I thought that I might copy these settings, since drives and motors are equal and then try to adjust for the different load. That failed. Then I started from scratch and I cannot find any settings to turn the motors smoothly. I set everything to 0, P to 1 and it is already oscillating. Then I set P and got joint exceeded following error. The f-error is set to 100 mm, so obviously P should be higher. I have tried numerous values between 1 and 300, but nowehere I get smooth motion. What should I do? Sounds like your commutation is wrong, no amount of tuning will help this (wrong Hall order if you are using Halls wron paratmeyets if you are using q mode etc etc) 2012. gada 28. janv??ris 18:14 noel noel.ro...@comcast.net rakst??ja: All interested in Servo Tuning. Have a look at: http://support.motioneng.com/Downloads-Notes/Tuning/default.htm Thank You! I will do some reading. Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
2012/1/28 Peter C. Wallace p...@mesanet.com: Sounds like your commutation is wrong, no amount of tuning will help this (wrong Hall order if you are using Halls wron paratmeyets if you are using q mode etc etc) Any tips on troubleshooting? Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
On Sat, 28 Jan 2012, Viesturs L?cis wrote: Date: Sat, 28 Jan 2012 19:56:50 +0200 From: [UTF-8] Viesturs L?cis viesturs.la...@gmail.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] Servo tuning - wtf? 2012/1/28 Peter C. Wallace p...@mesanet.com: Sounds like your commutation is wrong, no amount of tuning will help this (wrong Hall order if you are using Halls wron paratmeyets if you are using q mode etc etc) Any tips on troubleshooting? Viesturs Yes do what you are doing: PID with small P (perhaps even less than 1) and nothing else. Note that since this uses a 7I39 I know the motors are small enough to be safe to turn by hand, Don't do this with a large motor or with any attached hardware that can cut or pinch you! Start the axis and turn the motor shaft by hand from the holding position. The torque resisting the shaft rotation should increase as you move from the starting position and if the P number is small enough should feel like winding a spring. This force should be symmetrical in both directions of motion. If it feels coggy or snaps to other null (no force) positions, commutation is not working (in h mode this likely means the Halls are not connected/notconnected right or the hall mode is wrong -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
2012/1/28 Peter C. Wallace p...@mesanet.com: If it feels coggy or snaps to other null (no force) positions, commutation is not working (in h mode this likely means the Halls are not connected/notconnected right or the hall mode is wrong Is bldc.n.pattern meant with hall mode? Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
On Sat, 28 Jan 2012, Viesturs L?cis wrote: Date: Sat, 28 Jan 2012 20:37:17 +0200 From: [UTF-8] Viesturs L?cis viesturs.la...@gmail.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] Servo tuning - wtf? 2012/1/28 Peter C. Wallace p...@mesanet.com: If it feels coggy or snaps to other null (no force) positions, commutation is not working (in h mode this likely means the Halls are not connected/notconnected right or the hall mode is wrong Is bldc.n.pattern meant with hall mode? yes Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
On Sat, 28 Jan 2012, Viesturs L?cis wrote: Date: Sat, 28 Jan 2012 20:37:17 +0200 From: [UTF-8] Viesturs L?cis viesturs.la...@gmail.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] Servo tuning - wtf? 2012/1/28 Peter C. Wallace p...@mesanet.com: If it feels coggy or snaps to other null (no force) positions, commutation is not working (in h mode this likely means the Halls are not connected/notconnected right or the hall mode is wrong Is bldc.n.pattern meant with hall mode? Viesturs You could also verify that the Hall signals connected to the BLDC component are identical for the working and non working axis (with HALMeter) as you slowly rotate the motor shaft (with 0 P) -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
2012/1/28 Peter C. Wallace p...@mesanet.com: You could also verify that the Hall signals connected to the BLDC component are identical for the working and non working axis (with HALMeter) as you slowly rotate the motor shaft (with 0 P) I will just switch off motor power, Hall and encoder power is supplied from PC PSU, so it will remain. I will report back in a minute. Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Homing
In AXIS_1 and AXIS_2 section, you have HOME defined twice. Once at 0, the other at 10.0. -Original Message- From: Viesturs Lacis [mailto:viesturs.la...@gmail.com] Sent: Sunday, 29 January 2012 2:08 AM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] Homing 2012/1/28 andy pugh bodge...@gmail.com: mux2 doesn't work with boolean data, unfortunately. I do not know, what is boolean, but You are right - it did not want to work, because limit/homing switches are bit pins, mux2 inputs and output are float. So I created mux2bit component, where I fixed this... So that part is working. 2012/1/28 Spiderdab 77...@tiscali.it: I have another problem: Z should home on its upper position and stay there. So in INI file I set: HOME = 180.000 HOME_OFFSET = 180.00 It homes, sets joint coordinates to 180 and goes to 0 ignoring HOME = 180. It's been a while, but I think HOME_OFFSET is the distance from the switch point to the home position, so if the home switch is at 180 and the home position is 180 then HOME_OFFSET is zero. For what i know OFFSET should be the same of HOME, if you want the joint to stay there. (at least my machine work like this..) so: HOME = 180.0 HOME_OFFSET = 180.0 Yes, I know that it _should_ But it does not! Andy, it is working correctly up to the point, where it trips the switch and sets the joint position as stated by home_offset. The mysterious part is: Why on earth it has to move to 0, when HOME is set to be equal with HOME_OFFSET, sho it should just stay there... I am using 2.5.pre2-18-g799075f BTW the best part is that both Y joints also are homing in their positive end and they work correctly. Here are the INI settings: # Y1 [AXIS_1] TYPE = LINEAR MAX_VELOCITY = 66.667 MAX_ACCELERATION = 120.0 BACKLASH = 0.000 FERROR =100.050 MIN_FERROR =100.010 # INPUT_SCALE = 3276.8 INPUT_SCALE = -3276.8 OUTPUT_SCALE = -71 OUTPUT_OFFSET = 0.0 MAX_OUTPUT =66.667 MIN_LIMIT = 0.0 MAX_LIMIT = 1405.0 HOME = 1400.0 HOME_OFFSET = 1400 HOME_FINAL_VEL = 10 HOME_SEARCH_VEL = 2 HOME_LATCH_VEL =-0.5 HOME_USE_INDEX =NO HOME_IGNORE_LIMITS =YES HOME_SEQUENCE = 1 # PID tuning params DEADBAND = 0.002 P = 10 I = 0 D = 0 FF0 = 0 FF1 = 0 FF2 = 0 BIAS = 0 # Z [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 15 MAX_ACCELERATION = 60.0 STEPGEN_MAXACCEL = 70.0 BACKLASH =0.000 SCALE = -400 MIN_LIMIT = -10.0 MAX_LIMIT = 20.0 FERROR = 0.050 MIN_FERROR = 0.005 HOME =10.000 HOME_OFFSET = 10.00 HOME_SEARCH_VEL = 2.0 HOME_LATCH_VEL =-0.5 HOME_USE_INDEX =NO HOME_IGNORE_LIMITS =YES HOME_SEQUENCE = 0 # these are in nanoseconds DIRSETUP = 4000 DIRHOLD= 4000 STEPLEN= 4000 STEPSPACE = 4000 # Y2 [AXIS_3] TYPE = LINEAR MAX_VELOCITY = 66.667 MAX_ACCELERATION = 120.0 BACKLASH = 0.000 FERROR =100.050 MIN_FERROR =100.010 # INPUT_SCALE = 3276.8 INPUT_SCALE = -3276.8 OUTPUT_SCALE = -71 OUTPUT_OFFSET = 0.0 MAX_OUTPUT =66.667 MIN_LIMIT = 0.0 MAX_LIMIT = 1405.0 HOME = 1400.0 HOME_OFFSET = 1400 HOME_FINAL_VEL = 10 HOME_SEARCH_VEL = 2 HOME_LATCH_VEL =-0.5 HOME_USE_INDEX =NO HOME_IGNORE_LIMITS =YES HOME_SEQUENCE = 1 # PID tuning params DEADBAND = 0.002 P = 380 I = 10 D = 1.9 FF0 = 0 FF1 = 0.1 FF2 = 0 BIAS = 0 Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
2012/1/28 Viesturs Lācis viesturs.la...@gmail.com: 2012/1/28 Peter C. Wallace p...@mesanet.com: You could also verify that the Hall signals connected to the BLDC component are identical for the working and non working axis (with HALMeter) as you slowly rotate the motor shaft (with 0 P) I will just switch off motor power, Hall and encoder power is supplied from PC PSU, so it will remain. I will report back in a minute. I watched all 3 hall signals for both bldc components - the one that works and the one of nonworking. The signal changing order is the same. At first I turned each motor so that hall1 is true, remaining 2 are false. Then I very slowly turned the working motor until any signal changed (hall3 went true), so then I very slowly turned nonworking motor until any signal changed status. And all the time they matched (X is true, blank is false): hall1 hall2 hall 3 X X X X X X X XX X -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Homing
Good catch! (I was looking it over as my machine homes at its upper limit. (38,36,24) and I know that works and is setup similar to the setup below) On 01/28/2012 01:00 PM, Frank Tkalcevic wrote: In AXIS_1 and AXIS_2 section, you have HOME defined twice. Once at 0, the other at 10.0. -Original Message- From: Viesturs Lacis [mailto:viesturs.la...@gmail.com] Sent: Sunday, 29 January 2012 2:08 AM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] Homing 2012/1/28 andy pughbodge...@gmail.com: mux2 doesn't work with boolean data, unfortunately. I do not know, what is boolean, but You are right - it did not want to work, because limit/homing switches are bit pins, mux2 inputs and output are float. So I created mux2bit component, where I fixed this... So that part is working. 2012/1/28 Spiderdab77...@tiscali.it: I have another problem: Z should home on its upper position and stay there. So in INI file I set: HOME = 180.000 HOME_OFFSET = 180.00 It homes, sets joint coordinates to 180 and goes to 0 ignoring HOME = 180. It's been a while, but I think HOME_OFFSET is the distance from the switch point to the home position, so if the home switch is at 180 and the home position is 180 then HOME_OFFSET is zero. For what i know OFFSET should be the same of HOME, if you want the joint to stay there. (at least my machine work like this..) so: HOME = 180.0 HOME_OFFSET = 180.0 Yes, I know that it _should_ But it does not! Andy, it is working correctly up to the point, where it trips the switch and sets the joint position as stated by home_offset. The mysterious part is: Why on earth it has to move to 0, when HOME is set to be equal with HOME_OFFSET, sho it should just stay there... I am using 2.5.pre2-18-g799075f BTW the best part is that both Y joints also are homing in their positive end and they work correctly. Here are the INI settings: # Y1 [AXIS_1] TYPE = LINEAR MAX_VELOCITY = 66.667 MAX_ACCELERATION = 120.0 BACKLASH = 0.000 FERROR =100.050 MIN_FERROR =100.010 # INPUT_SCALE = 3276.8 INPUT_SCALE = -3276.8 OUTPUT_SCALE = -71 OUTPUT_OFFSET = 0.0 MAX_OUTPUT =66.667 MIN_LIMIT = 0.0 MAX_LIMIT = 1405.0 HOME = 1400.0 HOME_OFFSET = 1400 HOME_FINAL_VEL = 10 HOME_SEARCH_VEL = 2 HOME_LATCH_VEL =-0.5 HOME_USE_INDEX =NO HOME_IGNORE_LIMITS =YES HOME_SEQUENCE = 1 # PID tuning params DEADBAND = 0.002 P = 10 I = 0 D = 0 FF0 = 0 FF1 = 0 FF2 =0 BIAS = 0 # Z [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 15 MAX_ACCELERATION = 60.0 STEPGEN_MAXACCEL = 70.0 BACKLASH = 0.000 SCALE = -400 MIN_LIMIT = -10.0 MAX_LIMIT = 20.0 FERROR = 0.050 MIN_FERROR = 0.005 HOME = 10.000 HOME_OFFSET = 10.00 HOME_SEARCH_VEL = 2.0 HOME_LATCH_VEL =-0.5 HOME_USE_INDEX =NO HOME_IGNORE_LIMITS =YES HOME_SEQUENCE = 0 # these are in nanoseconds DIRSETUP = 4000 DIRHOLD= 4000 STEPLEN= 4000 STEPSPACE = 4000 # Y2 [AXIS_3] TYPE = LINEAR MAX_VELOCITY = 66.667 MAX_ACCELERATION = 120.0 BACKLASH = 0.000 FERROR =100.050 MIN_FERROR =100.010 # INPUT_SCALE = 3276.8 INPUT_SCALE = -3276.8 OUTPUT_SCALE = -71 OUTPUT_OFFSET = 0.0 MAX_OUTPUT =66.667 MIN_LIMIT = 0.0 MAX_LIMIT = 1405.0 HOME = 1400.0 HOME_OFFSET = 1400 HOME_FINAL_VEL = 10 HOME_SEARCH_VEL = 2 HOME_LATCH_VEL =-0.5 HOME_USE_INDEX =NO HOME_IGNORE_LIMITS =YES HOME_SEQUENCE = 1 # PID tuning params DEADBAND = 0.002 P = 380 I = 10 D = 1.9 FF0 = 0 FF1 = 0.1 FF2 =0 BIAS = 0 Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2
Re: [Emc-users] Homing
Thank You very much! I tested and can confirm - this is fixed. I knew this had to be something stupid :) Viesturs 2012/1/28 Frank Tkalcevic fr...@franksworkshop.com.au: In AXIS_1 and AXIS_2 section, you have HOME defined twice. Once at 0, the other at 10.0. -Original Message- From: Viesturs Lacis [mailto:viesturs.la...@gmail.com] Sent: Sunday, 29 January 2012 2:08 AM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] Homing 2012/1/28 andy pugh bodge...@gmail.com: mux2 doesn't work with boolean data, unfortunately. I do not know, what is boolean, but You are right - it did not want to work, because limit/homing switches are bit pins, mux2 inputs and output are float. So I created mux2bit component, where I fixed this... So that part is working. 2012/1/28 Spiderdab 77...@tiscali.it: I have another problem: Z should home on its upper position and stay there. So in INI file I set: HOME = 180.000 HOME_OFFSET = 180.00 It homes, sets joint coordinates to 180 and goes to 0 ignoring HOME = 180. It's been a while, but I think HOME_OFFSET is the distance from the switch point to the home position, so if the home switch is at 180 and the home position is 180 then HOME_OFFSET is zero. For what i know OFFSET should be the same of HOME, if you want the joint to stay there. (at least my machine work like this..) so: HOME = 180.0 HOME_OFFSET = 180.0 Yes, I know that it _should_ But it does not! Andy, it is working correctly up to the point, where it trips the switch and sets the joint position as stated by home_offset. The mysterious part is: Why on earth it has to move to 0, when HOME is set to be equal with HOME_OFFSET, sho it should just stay there... I am using 2.5.pre2-18-g799075f BTW the best part is that both Y joints also are homing in their positive end and they work correctly. Here are the INI settings: # Y1 [AXIS_1] TYPE = LINEAR MAX_VELOCITY = 66.667 MAX_ACCELERATION = 120.0 BACKLASH = 0.000 FERROR = 100.050 MIN_FERROR = 100.010 # INPUT_SCALE = 3276.8 INPUT_SCALE = -3276.8 OUTPUT_SCALE = -71 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 66.667 MIN_LIMIT = 0.0 MAX_LIMIT = 1405.0 HOME = 1400.0 HOME_OFFSET = 1400 HOME_FINAL_VEL = 10 HOME_SEARCH_VEL = 2 HOME_LATCH_VEL = -0.5 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 # PID tuning params DEADBAND = 0.002 P = 10 I = 0 D = 0 FF0 = 0 FF1 = 0 FF2 = 0 BIAS = 0 # Z [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 15 MAX_ACCELERATION = 60.0 STEPGEN_MAXACCEL = 70.0 BACKLASH = 0.000 SCALE = -400 MIN_LIMIT = -10.0 MAX_LIMIT = 20.0 FERROR = 0.050 MIN_FERROR = 0.005 HOME = 10.000 HOME_OFFSET = 10.00 HOME_SEARCH_VEL = 2.0 HOME_LATCH_VEL = -0.5 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 # these are in nanoseconds DIRSETUP = 4000 DIRHOLD = 4000 STEPLEN = 4000 STEPSPACE = 4000 # Y2 [AXIS_3] TYPE = LINEAR MAX_VELOCITY = 66.667 MAX_ACCELERATION = 120.0 BACKLASH = 0.000 FERROR = 100.050 MIN_FERROR = 100.010 # INPUT_SCALE = 3276.8 INPUT_SCALE = -3276.8 OUTPUT_SCALE = -71 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 66.667 MIN_LIMIT = 0.0 MAX_LIMIT = 1405.0 HOME = 1400.0 HOME_OFFSET = 1400 HOME_FINAL_VEL = 10 HOME_SEARCH_VEL = 2 HOME_LATCH_VEL = -0.5 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 # PID tuning params DEADBAND = 0.002 P = 380 I = 10 D = 1.9 FF0 = 0 FF1 = 0.1 FF2 = 0 BIAS = 0 Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2
Re: [Emc-users] Servo tuning - wtf?
On Sat, 28 Jan 2012, Viesturs L?cis wrote: Date: Sat, 28 Jan 2012 21:03:57 +0200 From: [UTF-8] Viesturs L?cis viesturs.la...@gmail.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] Servo tuning - wtf? 2012/1/28 Viesturs L??cis viesturs.la...@gmail.com: 2012/1/28 Peter C. Wallace p...@mesanet.com: You could also verify that the Hall signals connected to the BLDC component are identical for the working and non working axis (with HALMeter) as you slowly rotate the motor shaft (with 0 P) I will just switch off motor power, Hall and encoder power is supplied from PC PSU, so it will remain. I will report back in a minute. I watched all 3 hall signals for both bldc components - the one that works and the one of nonworking. The signal changing order is the same. At first I turned each motor so that hall1 is true, remaining 2 are false. Then I very slowly turned the working motor until any signal changed (hall3 went true), so then I very slowly turned nonworking motor until any signal changed status. And all the time they matched (X is true, blank is false): hall1 hall2 hall 3 X X X X X X X XX X Can you verify that in addition your raw encoder count the same way? -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Homing
The best part was that I had it working for other joints, but not for joint 2. I do not know, how many times I looked through those INI settings... I know that I am extremely good at not seeing things in front of my eyes. Especially when I need to find some tool that I used few minutes earlier and had put somewhere nearby. It almost always is right in front of me, but I can spend 5 minutes and more looking for it. And I am not even 30, so I do not want to know, how will I be able to work, when I grow older :)) 2012/1/28 sam sokolik sa...@empirescreen.com: Good catch! (I was looking it over as my machine homes at its upper limit. (38,36,24) and I know that works and is setup similar to the setup below) On 01/28/2012 01:00 PM, Frank Tkalcevic wrote: In AXIS_1 and AXIS_2 section, you have HOME defined twice. Once at 0, the other at 10.0. -Original Message- From: Viesturs Lacis [mailto:viesturs.la...@gmail.com] Sent: Sunday, 29 January 2012 2:08 AM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] Homing 2012/1/28 andy pughbodge...@gmail.com: mux2 doesn't work with boolean data, unfortunately. I do not know, what is boolean, but You are right - it did not want to work, because limit/homing switches are bit pins, mux2 inputs and output are float. So I created mux2bit component, where I fixed this... So that part is working. 2012/1/28 Spiderdab77...@tiscali.it: I have another problem: Z should home on its upper position and stay there. So in INI file I set: HOME = 180.000 HOME_OFFSET = 180.00 It homes, sets joint coordinates to 180 and goes to 0 ignoring HOME = 180. It's been a while, but I think HOME_OFFSET is the distance from the switch point to the home position, so if the home switch is at 180 and the home position is 180 then HOME_OFFSET is zero. For what i know OFFSET should be the same of HOME, if you want the joint to stay there. (at least my machine work like this..) so: HOME = 180.0 HOME_OFFSET = 180.0 Yes, I know that it _should_ But it does not! Andy, it is working correctly up to the point, where it trips the switch and sets the joint position as stated by home_offset. The mysterious part is: Why on earth it has to move to 0, when HOME is set to be equal with HOME_OFFSET, sho it should just stay there... I am using 2.5.pre2-18-g799075f BTW the best part is that both Y joints also are homing in their positive end and they work correctly. Here are the INI settings: # Y1 [AXIS_1] TYPE = LINEAR MAX_VELOCITY = 66.667 MAX_ACCELERATION = 120.0 BACKLASH = 0.000 FERROR = 100.050 MIN_FERROR = 100.010 # INPUT_SCALE = 3276.8 INPUT_SCALE = -3276.8 OUTPUT_SCALE = -71 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 66.667 MIN_LIMIT = 0.0 MAX_LIMIT = 1405.0 HOME = 1400.0 HOME_OFFSET = 1400 HOME_FINAL_VEL = 10 HOME_SEARCH_VEL = 2 HOME_LATCH_VEL = -0.5 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 # PID tuning params DEADBAND = 0.002 P = 10 I = 0 D = 0 FF0 = 0 FF1 = 0 FF2 = 0 BIAS = 0 # Z [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 15 MAX_ACCELERATION = 60.0 STEPGEN_MAXACCEL = 70.0 BACKLASH = 0.000 SCALE = -400 MIN_LIMIT = -10.0 MAX_LIMIT = 20.0 FERROR = 0.050 MIN_FERROR = 0.005 HOME = 10.000 HOME_OFFSET = 10.00 HOME_SEARCH_VEL = 2.0 HOME_LATCH_VEL = -0.5 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 # these are in nanoseconds DIRSETUP = 4000 DIRHOLD = 4000 STEPLEN = 4000 STEPSPACE = 4000 # Y2 [AXIS_3] TYPE = LINEAR MAX_VELOCITY = 66.667 MAX_ACCELERATION = 120.0 BACKLASH = 0.000 FERROR = 100.050 MIN_FERROR = 100.010 # INPUT_SCALE = 3276.8 INPUT_SCALE = -3276.8 OUTPUT_SCALE = -71 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 66.667 MIN_LIMIT = 0.0 MAX_LIMIT = 1405.0 HOME = 1400.0 HOME_OFFSET = 1400 HOME_FINAL_VEL = 10 HOME_SEARCH_VEL = 2 HOME_LATCH_VEL = -0.5 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 # PID tuning params DEADBAND = 0.002 P = 380 I = 10 D =
Re: [Emc-users] Servo tuning - wtf?
2012/1/28 Peter C. Wallace p...@mesanet.com: Can you verify that in addition your raw encoder count the same way? How do You mean - count the same way? If I understand correctly, then I tested this: If both motors turned clockwise Then rawcounts increase in positive direction for _both_ motors. The thing is: For working motor - turning clockwise is movement in positive direction. For nonworking motors - turning clockwise is moving in negative direction. I have: INI file scale values (input, output scale) with + signs for working motor; INI file scale values with - signs for nonworking motor. Bldc scale value for all motors is -8192 Should I also have Hall pattern changed so that it is exactly opposite to working motor? What is _recomended_ approach for reversing the direction? I also tried Your suggestion: setting all PID parameters to 0 and choose small P. I set P to 3 and turned motor by hand. The resisting torque increased. It felt like gradual increase. I turned it both directions, it felt the same strength of resistance. I was able to turn it approximately full turn in each direction, it did not cog or jump anywhere, but returned approximately to starting point. Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
On Sat, 28 Jan 2012, Viesturs L?cis wrote: Date: Sat, 28 Jan 2012 21:29:07 +0200 From: [UTF-8] Viesturs L?cis viesturs.la...@gmail.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] Servo tuning - wtf? 2012/1/28 Peter C. Wallace p...@mesanet.com: Can you verify that in addition your raw encoder count the same way? How do You mean - count the same way? If I understand correctly, then I tested this: If both motors turned clockwise Then rawcounts increase in positive direction for _both_ motors. The thing is: For working motor - turning clockwise is movement in positive direction. For nonworking motors - turning clockwise is moving in negative direction. I have: INI file scale values (input, output scale) with + signs for working motor; INI file scale values with - signs for nonworking motor. Bldc scale value for all motors is -8192 Should I also have Hall pattern changed so that it is exactly opposite to working motor? No What is _recomended_ approach for reversing the direction? Changing input and output scales as you have I also tried Your suggestion: setting all PID parameters to 0 and choose small P. I set P to 3 and turned motor by hand. The resisting torque increased. It felt like gradual increase. I turned it both directions, it felt the same strength of resistance. I was able to turn it approximately full turn in each direction, it did not cog or jump anywhere, but returned approximately to starting point. OK so commutation is ok, but somthing is funny here. You said it oscillated even with a P of 1 and all else 0. Did it not oscillate with a P of 3? what is the difference between the setup now and when it oscillates? Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
2012/1/28 Peter C. Wallace p...@mesanet.com: OK so commutation is ok, but somthing is funny here. You said it oscillated even with a P of 1 and all else 0. Did it not oscillate with a P of 3? what is the difference between the setup now and when it oscillates? I will try to explain: I am trying to tune 2 motors simultaneously, because it is a gantry machine. So what I did few minutes ago: For both motors: all PID parameters set to 0 P = 3 I tried to jog the gantry at slow speed. At 240 mm/min it is smooth, at 480 mm/min still smooth, but at 676 mm/min there are spots, when one of motors stalls and oscillates in small amount at high frequency. I suspect that the stalling is due to some uneven load to motor, when moving forward. Anyway, I d not know, how to overcome such stalls and subsequent oscillation. Hitting F2 to disable and re-enable motion stops oscillation and I can jog forward. Until one of motors stalls and starts vibrating again. I do understand that final settings for both gantry motors might differ, I just think that in the beginning they could be tuned together as both of them are stalling now. Viesturs -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
Viesturs Lācis wrote: 2012. gada 28. janvāris 18:14 noel noel.ro...@comcast.net rakstīja: All interested in Servo Tuning. Have a look at: http://support.motioneng.com/Downloads-Notes/Tuning/default.htm In the link from Noel I find that all three (well, the last maybe not that much) PID tuning methods: http://support.motioneng.com/Downloads-Notes/Tuning/3_pid_tune.htm Suggest starting with finding correct D parameter, as opposed to previously expressed opinions that P parameter is the one to start with. Can anyone with experience in servo tuning comment on this? Can anyone comment on this? If your P is too high, no amount of D will stop the violent oscllation. If your P is too low, there will be no movement at all, and D will do nothing. I think you need to have P within a reasonable band for the particular servo drive so that movement happens when it is commanded. Note that a lot of treatises on PID tuning use an oven and a thermometer as the model. This is a one-quadrant system, and not as relevant to a servo motion axis. Jon -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] question about tapered threading (etc)
On Fri, 27 Jan 2012 10:06:40 +, you wrote: On 27 January 2012 08:32, Steve Blackmore st...@pilotltd.net wrote: I'm not asking that the existing G33 be abandoned, just an addition, correct version added, preferably using G32. As I said earlier, that's fairly easy to do with the G-code remapping functions in version 2.6. 2.6 ?? Haven't seen the belated 2.5 yet... Steve Blackmore -- -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] DIY output driver
On 01/27/2012 10:23 PM, Viesturs Lācis wrote: 2012/1/28 Rafael Skodlarra...@linwin.com: Of course that won't work with most if not all the suggestions I've seen so far. If I understand it correctly, your laser already has a circuit to drive it at reasonable current to do it's magic. Circuit I suggested earlier was under assumption you have a bare laser diode connected to it. You cannot daisy chain circuits one after another and expect laser to work properly. Relays are out of question IMO because they are too slow mechanical devices with many other drawbacks for this application. I see no reason to bring in solid state relays into the picture either. You are not driving high voltage stuff. You either need to modify your PCB that came with the laser diode or build a new circuit. Maybe you can reverse engineer that PCB and use one spot to inject signal from the EMC side. Ed, Kirk, Rafael, thank You! Given my lack of skills in electronics, I think that interfering and modifying the pcb that comes with laser is the last thing I want to do. Here are some pics of the laser and its pcb I took late in last night with my phone (it was late enough that I forgot to upload them yesterday evening): http://picpaste.com/2012-01-27_21.54.59-QzJqS24n.jpg http://picpaste.com/2012-01-27_21.55.16-mx4U2GiU.jpg http://picpaste.com/2012-01-27_21.55.36-wtANcKHw.jpg http://picpaste.com/2012-01-27_21.56.28-ySpITI8d.jpg I think that I will try the use a relay approach, because: 1) it is simple enough for me to do it; 2) it does not require modifying existing laser's board; 3) it will be fast enough for me, because I am going to use the laser in a a la milling fashion - move laser along the line to be burned instead of moving it back and forth and switching it on, when necessary, because: a) the laser is weak, so by definition it can't burn quickly; That will cause missed or late start unless you compensate that with stepper or servo waiting for the relay/laser delay. Photo sensor in a loop (PID) could fix that but that's more work than creating a simple current limit circuit with LM317 and a few other components as noted earlier. If all else fails, you can burn a T-shirt for yourself :-) http://blog.craftzine.com/archive/2011/07/diana_engs_laser_lace_tops.html b) machine is heavy and relatively slow, compared to normal laser engravers, so it would not be able to handle very powerful laser anyway; Not necessarily true. Not knowing how it looks like it's hard to tell. Remember that light can be transmitted over a long distance around the corners using mirrors like this one: http://madmodder.net/index.php?topic=4895.0 as long as it's not too foggy. c) g-code generation - I have no idea, how to generate g-code for normal laser engraving, but I know, how to do it for a la milling style. BTW client was happy, when he saw the first hand-burned lines in the wood that I managed to do last night in that small moment, when the laser was working... Viesturs more links: http://www.laoslaser.org/ these guys have a roadmap something suggested on this list: http://wiki.laoslaser.org/index.php/Roadmap I hope we see some pictures of the final system. -- Rafael -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
2012/1/28 Viesturs Lācis viesturs.la...@gmail.com: Can anyone with experience in servo tuning comment on this? I don't actually have much experience with servos, but in my day-job very simple controllers only have P, then we add precontrol, then I, then transient precontrol. D is the very last thing that gets added. I am not talking about adjusting gains here, I am discussing what gets included in the software. -- atp The idea that there is no such thing as objective truth is, quite simply, wrong. -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] question about tapered threading (etc)
Haven't seen the belated 2.5 yet... It has, indeed, been imminent for a long time. I suspect that a lot of the delay has been due to the EMC lawyers. I have a suspicion that 2.6 will follow fairly shortly after 2.5. It is available as pre-compiled packages, and as far as I know has few bugs. -- atp The idea that there is no such thing as objective truth is, quite simply, wrong. -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
On 1/28/2012 5:05 PM, Jon Elson wrote: Viesturs Lācis wrote: 2012. gada 28. janvāris 18:14 noelnoel.ro...@comcast.net rakstīja: All interested in Servo Tuning. Have a look at: http://support.motioneng.com/Downloads-Notes/Tuning/default.htm In the link from Noel I find that all three (well, the last maybe not that much) PID tuning methods: http://support.motioneng.com/Downloads-Notes/Tuning/3_pid_tune.htm Suggest starting with finding correct D parameter, as opposed to previously expressed opinions that P parameter is the one to start with. Can anyone with experience in servo tuning comment on this? Can anyone comment on this? If your P is too high, no amount of D will stop the violent oscllation. If your P is too low, there will be no movement at all, and D will do nothing. I think you need to have P within a reasonable band for the particular servo drive so that movement happens when it is commanded. Note that a lot of treatises on PID tuning use an oven and a thermometer as the model. This is a one-quadrant system, and not as relevant to a servo motion axis. Jon Also, most of the descriptions of PID that I've seen involve what happens as process variables change due to outside influences (such as room temperature, or feedstock variations). We are concerned with the response to a setpoint change. Ken -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Servo tuning - wtf?
On Sat, 28 Jan 2012, Viesturs L?cis wrote: Date: Sat, 28 Jan 2012 22:12:12 +0200 From: [UTF-8] Viesturs L?cis viesturs.la...@gmail.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] Servo tuning - wtf? 2012/1/28 Peter C. Wallace p...@mesanet.com: OK so commutation is ok, but somthing is funny here. You said it oscillated even with a P of 1 and all else 0. Did it not oscillate with a P of 3? what is the difference between the setup now and when it oscillates? I will try to explain: I am trying to tune 2 motors simultaneously, because it is a gantry machine. So what I did few minutes ago: For both motors: all PID parameters set to 0 P = 3 I tried to jog the gantry at slow speed. At 240 mm/min it is smooth, at 480 mm/min still smooth, but at 676 mm/min there are spots, when one of motors stalls and oscillates in small amount at high frequency. I suspect that the stalling is due to some uneven load to motor, when moving forward. Anyway, I d not know, how to overcome such stalls and subsequent oscillation. Hitting F2 to disable and re-enable motion stops oscillation and I can jog forward. Until one of motors stalls and starts vibrating again. I do understand that final settings for both gantry motors might differ, I just think that in the beginning they could be tuned together as both of them are stalling now. Viesturs Can you manually run the gantry to a carefully marked home position after it stalls to verify that you are not losing counts? losing counts might cause this behaviour -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
