The rotary loop works fine by itself.
The linear loop, as it's just an I term is pretty useless/non functional
by itself. Maybe you could argue it's ok for really small values of I, but
then the settling time when using both PID loops combined is terrible. I
was under the impression that
On Sat, 25 Apr 2020, David Berndt wrote:
Date: Sat, 25 Apr 2020 23:13:59 -0400
From: David Berndt
To: Peter C. Wallace
Cc: "Enhanced Machine Controller (EMC)"
Subject: Re: [Emc-users] Encoder reset on homing to index
Resent-Date: Sat, 25 Apr 2020 23:39:11 -0400
Resent-From: "David Berndt"
Trying this again for the second time, no more attachments, only a google
photos link. I really mean it this time.
https://photos.app.goo.gl/xMK4Ep69i1SpznC58
Here are some halscope screenshots. Would saving the halscope data and
distributing that be better/prefered? Not sure what the policy
>
> What kind of driver are you using? I've got HP_UHU on brushed DC servo's
> and a STMBL drive on the AC Servo Harmonic Drive. In both cases those
> fault out if the following error doesn't match. In other words, the drive
> counts the steps input and if the encoder pulses don't match the
> Don't forget I'm running servos not steppers. But yes, I'm running them in
> step+dir mode. This is the first time I'm using a servo with this control
> method so I really don't know what could happen if a commanded movement
> cannot be achieved. I suppose the servo will trigger an overload
>
> One caveat, if using backlash comp, I believe the margin goes up to 100%.
> At those turnaround speeds, steppers have maximum torque, but I'd also
> exercise the heck out of it to make sure I wasn't losing a step from
> over pushing it. If that 100% makes it lose a step, then I'd reduce the
>
>
> The basic following error in MIN_FERROR, which is effective
> even at zero velocity.
> I note in your .ini file, you have increased FERROR, but
> MIN_FERROR - 0.01
> which in mm user units is quite small.
Hello Jon,
I've been playing with that config for so many weeks that I don't really
On Saturday 25 April 2020 18:26:45 Leonardo Marsaglia wrote:
> So I should set the MAX_VELOCITY and MAX_ACCELERATION variables from
> [JOINT_N] and [AXIS_N] up to 25% higher than the same variables in the
> [TRAJ] section of the INI file right?
>
> And from what the pncconf ini says in the
On 04/25/2020 02:53 PM, Leonardo Marsaglia wrote:
I happen to have some following erros on both X and Z axis from time to
time, mostly when the machine is not homed (but that could be my
impression).
For historical reasons, the naming of the following error
parameters are confusing.
FERROR is
So I should set the MAX_VELOCITY and MAX_ACCELERATION variables from
[JOINT_N] and [AXIS_N] up to 25% higher than the same variables in the
[TRAJ] section of the INI file right?
And from what the pncconf ini says in the comments, the STEPGEN_MAXVEL and
STEPGEN_MAXACCEL variables should be also
On Saturday 25 April 2020 17:04:50 Peter C. Wallace wrote:
> On Sat, 25 Apr 2020, Leonardo Marsaglia wrote:
> > Date: Sat, 25 Apr 2020 16:53:40 -0300
> > From: Leonardo Marsaglia
> > Reply-To: "Enhanced Machine Controller (EMC)"
> >
> > To: "Enhanced Machine Controller (EMC)"
> > Subject:
On Sat, 25 Apr 2020, Leonardo Marsaglia wrote:
Date: Sat, 25 Apr 2020 16:53:40 -0300
From: Leonardo Marsaglia
Reply-To: "Enhanced Machine Controller (EMC)"
To: "Enhanced Machine Controller (EMC)"
Subject: [Emc-users] Help with some sporadic followin errors
Hello to all,
We've almost
Hello to all,
We've almost finished to wire and configure the mazak to work with LCNC. So
far, joint movements and homing are working flawlessly. I'm using servos
in step+dir mode so no real feedback is coming from the joints of the
machine.
I happen to have some following erros on both X and Z
On Sat, 25 Apr 2020, David Berndt wrote:
Date: Sat, 25 Apr 2020 14:21:45 -0400
From: David Berndt
To: "Enhanced Machine Controller (EMC)" ,
Peter C. Wallace
Subject: Re: [Emc-users] Encoder reset on homing to index
Thanks for the feedback Peter.
I took the time to re-order my hal file
Thanks for the feedback Peter.
I took the time to re-order my hal file (it's a bit of a disaster with all
the other non motion going-ons in there).
Here is the relevant start of m addf's
addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf
At the usual place, click on the link in my sig. When you see my ancient
pix, add 'lathe-stf/' to the address and hit enter.
You'll get a directory listing, click on 'linuxcnc4rpi4' and you should
be there.
Cheers, Gene Heskett
--
"There are four boxes to be used in defense of liberty:
On Sat, 25 Apr 2020, David Berndt wrote:
Date: Sat, 25 Apr 2020 03:23:20 -0400
From: David Berndt
Reply-To: "Enhanced Machine Controller (EMC)"
To: "Enhanced Machine Controller (EMC)"
Subject: Re: [Emc-users] Encoder reset on homing to index
After a few more hours tonight putzing around
On Sat, 25 Apr 2020 at 01:03, David Berndt wrote:
> Feels a bit unsatisfying though. I understand the timing issues (though
> I'm not sure with a slow homing cycle I should care) but not solving this
> in a reasonably elegant way in software seems like a fail to me.
To solve it _properly_ in
After a few more hours tonight putzing around with this thing. Here's
where I'm at.
I've wired up the shared index. It completes both the encoder's
index-enable cycles. encoder.NRotary.position and encoder.nLinear.position
both reset to ~0. Home is also at 0 as is homeoffset, so once index
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