I have a problem with f-error being larger than normal when homing. I ran this program : % G00 G40 G49 G80 G90 G54 G20 G61 G00 X0.2 G01 X0.1 F6. X0.2 X0.1 X0.2 X0.1 X0.2 M02 % and took a screenshot of HAL Oscilloscope to demonstrate normal f-error: http://imagebin.org/8953
This next screenshot shows the f-error when homing: http://imagebin.org/8954 My mill set-up: EMC 2.1.6 3 axis Servos 2 Hall effect limit switches/axis (no home switch) Note: Indepentantly of EMC2, the limit switches disable the servo amps in the current direction of travel only. From m5i20 .ini: # First axis [AXIS_0] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 4.0 MAX_ACCELERATION = 20.0 BACKLASH = 0.000 INPUT_SCALE = 20000 OUTPUT_SCALE = 1 OUTPUT_OFFSET = 0 MIN_LIMIT = -32.0 MAX_LIMIT = 20.0 FERROR = 0.02 MIN_FERROR = 0.02 HOME_OFFSET = -0.1 HOME_SEARCH_VEL = 0.1 HOME_LATCH_VEL = 0.01 HOME_USE_INDEX = FALSE HOME_IGNORE_LIMITS = YES MAX_OUTPUT = 10 # PID tuning params DEADBAND = 0.000015 P = 200 I = 0 D = 0 FF0 = 0 FF1 = 1 BIAS = 0 The problem exists on all axis. f-error reduces as HOME_SEARCH_VEL and HOME_LATCH_VEL decrease. Am I correct in thinking the larger than nomal f-error is caused by the servo amp being disabled by the the limit switch during the homing sequence? What can you suggest to overcome this so that I can run it with minimum FERROR and MIN_FERROR settings? Thank you. Richard. ------------------------------------------------------------------------- This SF.net email is sponsored by DB2 Express Download DB2 Express C - the FREE version of DB2 express and take control of your XML. No limits. Just data. Click to get it now. http://sourceforge.net/powerbar/db2/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
