Jon;
I stumbled into the solution, responses below.
On Sat, Nov 27, 2010 at 12:39 AM, Jon Elson <[email protected]> wrote:
> Don Stanley wrote:
> > Hi Jon and All;
> > My configuration is:
> > -D510MO computer
> > -Ubuntu 10.04 Live Disk
> > -EMC2 2.4.5
> > -USC with univstep reconfigured for mill.
> >
> > The USC works fine in non servo mode, (Switches down).
> > When I switch to servo (switches up) none of the three servo axis
> > will move.
> >
> OK, this is not ALL switches up. Switch # 1 set to ON changes the first
> axis
> to be closed-loop. Switch #2 affect the second axis in this way, etc.
>
> Now, when you move the motor manually, you should see the DRO position
> display
> change on the screen. If it doesn't, then something is wrong with the
> encoder connection,
> probably.
>
> Note that switches 4-7 change the step/direction output to phase
> output. if you feed this to
> a microstepping drive step/dir, the moves would be constantly changing
> direction every 2nd
> (micro) step, and might appear to not be moving at all. I'm guessing
> that may be what
> you have done. If not, then we will have to investigate further. Other
> than making sure
> INPUT_SCALE has the right sign and scale factor for your encoder,
> nothing in your .ini
> file needs to change. (I believe I previously told you that input scale
> and output scale need to be
> the same. I think that's wrong, OUTPUT_SCALE needs to be either +1.0 or
> -1.0, whichever
>
When the OUTPUT_SCALE is set to +1.0 I was getting 1 step output for
each inch of travel. That was actually .000004 inches of movement for
1 inch movement shown on the axis display. My drives need 125000 steps
per inch of travel (250000 steps on the knee). When I set the OUTPUT_SCALE
to 125000 move starts became very rough and stalled the motors. I had to
change the MAX_ACCELERATION = from 20 to 1 (or less) to get a top speed of
40 inches per minute (as opposed to 60 ipm in non servo mode).
Does all this compute with you?
Thanks
Don
sign doesn't cause a servo runaway.) Sorry about the confusion on this,
> not too many people
> use this feature. But, it does work, I use it to test out my Gecko
> interface board.
>
> On a 3-axis closed-loop machine, you want switches 1-3 on, 4-9 off, and
> 10 on for the
> first USC board.
>
> Jon
>
>
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