On Monday 12 October 2015 16:10:47 Peter C. Wallace wrote:
> On Mon, 12 Oct 2015, Gene Heskett wrote:
> > Date: Mon, 12 Oct 2015 15:56:07 -0400
> > From: Gene Heskett <[email protected]>
> > Reply-To: "Enhanced Machine Controller (EMC)"
> > <[email protected]>
> > To: "Enhanced Machine Controller (EMC)"
> > <[email protected]> Subject: [Emc-users] To PCW:
> > retuning for inches
> >
> > Greetings Peter;
> >
> > In getting a decent rapids w/o following error, I wound up with all
> > the pid.Pgains at 2000, and while I played with the FF2 setting,
> > couldn't detect that is was affecting anything I'm smart enough to
> > detect.
>
> PGain should really be 1/period, more _will_ cause
> overshoot/oscillations
>
> > However, after a move of one of the axis's I can hear a faint tone
> > at the servo-thread frequency from the motors. Firing up halscope
> > and looking at the x,y,x outputs, when its singing I can see this
> > tone at all the pid.outputs, at from 15 to 50 milivolts peak to
> > peak. Move an axis a couple thou and it may stop.
>
> This is most likely the step driver (or excessive Pgain, see above)
I'll get following errors fairly quickly at 1000.
> > However, when its doing it, the z, being tasked with supporting the
> > weight of the head, can be seen to move, perhaps as much as 5 thou
> > in a minute or less. I have twice added half a microsecond to the
> > dirsetup and dirhold settings, and a quarter to the step widths
> > which seems to have helped. This particular driver is a DM860 since
> > thats a nema34 motor, running on 60 volts. And 60 is NOT enough for
> > that high of an inductance motor. 120 would be about right, and
> > should put its speeds up there with the 450 oz x&y motors, but no
> > one makes a stepper driver rated for that high a voltage. The DM860
> > is also noisey as can be as it switches from the microstep chosen to
> > lower values as the speeds requested rises. 3IPM is silent, 30 IPM
> > positively howls, its like a 16 speed road ranger truck
> > transmission, taking the engine thru its optimum power rpm range
> > from the traffic light till its out of sight and hearing.
> >
> > So my guess is that the oscillation may be confusing its internal
> > gearshift.
> >
> > What has been the pulse timing settings a DM860 needs in your
> > experience, and is there something in the pid settings that will
> > dampen that 1 kiloihertz oscillation out, without lowering the
> > Pgain, which seems to be required to get any real rapids speeds
> > above 20 ipm.
>
> If you cannnot get rapids above 20 IPM without a Pgain of 2000 you
> have something badly broken in the PID ( _is_ FF1 1.000? )
>
Yes, to about 4 decimal places.
> I would set the pulse timimg as long as the maximum step rate will
> allow (with about a 20% margin)
That would then be about 40% of the 1/scale then? Scale by the time I
get it moving exactly an inch for an inch requested, is about 5 digits
either side of the decimal point.
Here is the .ini as it exists right now.
I *think* I have done as suggested.
> > Clues will be gleefully applied at this point. Thanks Peter.
> >
> > Cheers, Gene Heskett
> > --
> > "There are four boxes to be used in defense of liberty:
> > soap, ballot, jury, and ammo. Please use in that order."
> > -Ed Howdershelt (Author)
> > Genes Web page <http://geneslinuxbox.net:6309/gene>
> >
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> > Emc-users mailing list
> > [email protected]
> > 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.
>
>
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Cheers, Gene Heskett
--
"There are four boxes to be used in defense of liberty:
soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page <http://geneslinuxbox.net:6309/gene>
# Generated by PNCconf at Tue Jun 30 22:44:28 2015
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = GO704fast
DEBUG = 0x00000000
[DISPLAY]
DISPLAY = axis
PYVCP = pyvcp-panel.xml
#GLADEVCP = -U --catalog=mill-mm features.ui
#FEATURES_PATH = /home/gene/linuxcnc/linuxcnc-features-master
#EMBED_TAB_NAME = GladeVCP
#EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -H
gvcp_call_list.hal -x {XID} gvcp-panel.ui
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.50000
MIN_SPINDLE_OVERRIDE = 0.25000
DEFAULT_SPINDLE_SPEED = 100
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 4
PROGRAM_PREFIX = /home/gene/linuxcnc/nc_files
INCREMENTS = 1.000 0.500 0.200 0.100 0.050 0.02 0.01 0.005 0.002 0.001
DEFAULT_LINEAR_VELOCITY = .80
MAX_LINEAR_VELOCITY = 1.20
MIN_LINEAR_VELOCITY = 0.0100
DEFAULT_ANGULAR_VELOCITY = 5.0000
MAX_ANGULAR_VELOCITY = 7.5000
MIN_ANGULAR_VELOCITY = 0.0100000
EDITOR = geany
GEOMETRY = xyza
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25
[HAL]
HALUI = halui
HALFILE = GO704fast.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
[TRAJ]
AXES = 4
COORDINATES = X Y Z A
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.95
MAX_LINEAR_VELOCITY = 1.2000
POSITION_FILE =
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME_SEQUENCE = 2
HOME_IS_SHARED = 1
HOME_SEARCH_VEL = 0.9842
HOME_LATCH_VEL = -0.05
HOME_FINAL_VEL = 1.0574
HOME_OFFSET = 8.8580
HOME = 0.0
FERROR = 0.02
MIN_FERROR = 0.005
MAX_VELOCITY = 1.9685
MAX_ACCELERATION = 7.874
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 2.460
STEPGEN_MAXACCEL = 15.748
P = 2500.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0005
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 4500
DIRHOLD = 4500
STEPLEN = 2000
STEPSPACE = 2000
STEP_SCALE = 16306.8
MIN_LIMIT = -9.6456
MAX_LIMIT = 9.6456
BACKLASH = 0.00150
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
HOME_SEARCH_VEL = 0.93499
HOME_LATCH_VEL = -0.09842
HOME_FINAL_VEL = 1.1687375
HOME_OFFSET = 2.2
HOME = 0.0
FERROR = 0.02
MIN_FERROR = 0.005
MAX_VELOCITY = 1.968
MAX_ACCELERATION = 7.874
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 2.460
STEPGEN_MAXACCEL = 15.74
P = 2000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0005
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 2100
STEPSPACE = 2100
STEP_SCALE = -16314.92894
MIN_LIMIT = -2.716
MAX_LIMIT = 2.7559
BACKLASH = .000950
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
HOME_SEARCH_VEL = 0.675097075
HOME_LATCH_VEL = -0.025
HOME_FINAL_VEL = 0.74833333
HOME = -0.03937
HOME_OFFSET = 0.03937
MIN_LIMIT = -7.8346
MAX_LIMIT = 0.03937
FERROR = 0.002
MIN_FERROR = 0.0005
MAX_VELOCITY = 0.710916664
MAX_ACCELERATION = 5.00
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 0.888645829
STEPGEN_MAXACCEL = 10.00
P = 2000
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0005
BIAS = 0.0
DEADBAND = 0.000
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 5500
DIRHOLD = 5500
STEPLEN = 2750
STEPSPACE = 2750
STEP_SCALE = -32579.57065
BACKLASH = .00250
#********************
# Axis A
#********************
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
HOME_SEQUENCE = 3
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_FINAL_VEL = 0
FERROR = 0.05
MIN_FERROR = 0.005
MAX_VELOCITY = 12.0
MAX_ACCELERATION = 180.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 15.00
STEPGEN_MAXACCEL = 225.00
P = 2500.0
I = 0.0
D = 0.0
FF0 = 0.00
FF1 = 1.00
FF2 = 0.0005
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 2500
DIRHOLD = 2500
STEPLEN = 1500
STEPSPACE = 1500
STEP_SCALE = 800.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.0
#********************
# Spindle
#********************
[SPINDLE_9]
P = 2.0
I = 0.03
D = 0.00
FF0 = 1.00
FF1 = 0.020
FF2 = 0.00
BIAS = 0.00
FBIAS = 0.60
RBIAS = -0.60
ACCELL = 6.7
LIMIT_S_ACCEL = 750
DEADBAND = 0.00
ENCODER_SCALE = 268.0
PWMGEN_S_SCALE =46.00
MAXACCEL = 1500
PWMGEN_S_FREQ = 30000
NEAR_TOL = 5
NEAR_SCALE = 1.1
ENCODER_SAMPLE = 500000
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