On Monday 12 October 2015 18:02:33 Peter C. Wallace wrote:
> On Mon, 12 Oct 2015, Gene Heskett wrote:
> > Date: Mon, 12 Oct 2015 17:02:20 -0400
> > From: Gene Heskett <[email protected]>
> > Reply-To: "Enhanced Machine Controller (EMC)"
> > <[email protected]>
> > To: [email protected]
> > Subject: Re: [Emc-users] To PCW: retuning for inches
> >
> > 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.
>
> Then something is really broken, you might have to post your hal/ini
> files (also FF2 of .0005 is way to large .00005 shoud be closer)
>
Done, but it will be tomorrow before I test it now. Between clearing a
gutter with a major clog, and making a piece of 1/2" copper pipe about
an inch long into a bent in fingers to engage the output gear on the
gauge flipping motor, required to it can slide a bit due to
miss-alignment, and that was battling the o-ring I put in to pull the
end play out of the piano hinge. So my x results for a G38.2 were
randomized by 2 or 3 thou.
I had copied out the needed pieces of the jig finder, removed the G10 L2
stuff and just (debug, etc) the output to see how consistent it wasn't,
x in particular was wandering around at least 2 thou, and z was still
walking down half a thou or so per repeat pass. That could be thermal I
suppose. So I just stretched the timings on that DM860 driver another .5
microseconds, which might make that a little more repeatable. Fiddled
with the backlash until a .005 move was a .005 move going both ways, on
sll 3 active axis's then setup a 1" travel indicator & made the scales
produce within a thou of an inch when jogged an inch both ways. For
some UNK reason, my math from a TI-030x for the scale changes was
spitting out figures that were about 5 thou off. Either way.
The bit of copper is working (I cut with a 1/16" carbide mill, 8 slots
about .095" wide & .3" deep, which were then crushed into the gaps
between the gear teeth, sloppily but also slides endways about 1/8" as
the motor moves, so its not pushing on the o-ring taking up the endplay
in the piano hinge, but I need to find the next size bigger hose clamp
to reduce the chance of the hose slipping on the pipe. Cheap, some sort
of black plastic hose, I had to setup the hot air wand to about 230C to
make it soggy enough I could stretch it over the 1/2" copper pipe.
Cooled off, it seems to have enough grip, but based of experience so
far, I don't trust it without an aeroseal binding it up 1/4 turn from
stripped.
Now I'd better get the pix out of the camera an posted on my web page.
Thanks Peter.
>
> Peter Wallace
> Mesa Electronics
>
> (\__/)
> (='.'=) This is Bunny. Copy and paste bunny into your
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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>
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