I had a problem similar to this, including intermittent faulting, because I didn't have HOME_FINAL_VEL set. It was moving from the index position, to 0 too fast. I can't remember if it was because I hadn't set the maximums yet, or if it was the bug in joint mode, where an axis can exceed its maximum velocity.
> -----Original Message----- > From: Sebastian Kuzminsky [mailto:[email protected]] > Sent: Wednesday, 14 March 2012 4:43 PM > To: Enhanced Machine Controller (EMC) > Subject: Re: [Emc-users] Strange Sound from Motors when Home Latched > > On 03/13/2012 09:53 PM, Shabbir Hussain wrote: > > I have set up a lathe machine with analog AC servos and Mesa 7i43 and > 7i33. > > The following error is 0.017 mm at start (acceleration) and then reduced to > 0.008 mm at 6000 mm/min. Everything is just fine except: > > > > When the machine is homed the axis moves towards home switch, touches > it and then moves away with latch velocity. As the index pulse is encoutered > the axis stops with a "DHUCKK" sound. The sound only comes in homing > when the axis are away from home switch ( say 150 mm). The machine runs > fine rest of the moves. I can jog it at 7200 mm/min, stop it then move it in > reverse direction without any sound. The setting for HOME_SEARCH_VEL is > 20 mm/sec and HOME_LATCH_VEL is set at -1.0 mm/sec. The hal scope trace > of the f-error signal shows an error of 0.06 mm and pid output saturated for > very small time. > > > > I am using 2.4.7 on ubuntu 10.04. > > > > Kindly advise? > > We used to call this "the index homing THUMP problem" ;-) > > Chris Radek fixed it back in 2009; the fix is in 2.4.7 but you need to enable it in > hal. > > The pid component has a pin named "index-enable", you should hook it to > the encoder's index-enable pin to get rid of the thump. See the pid(9) > manpage for more details. > > > -- > Sebastian Kuzminsky > > > ---------------------------------------------------------------------------- -- > Virtualization & Cloud Management Using Capacity Planning > Cloud computing makes use of virtualization - but cloud computing > also focuses on allowing computing to be delivered as a service. > http://www.accelacomm.com/jaw/sfnl/114/51521223/ > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ Virtualization & Cloud Management Using Capacity Planning Cloud computing makes use of virtualization - but cloud computing also focuses on allowing computing to be delivered as a service. http://www.accelacomm.com/jaw/sfnl/114/51521223/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
