On Saturday 21 October 2017 13:17:13 Gene Heskett wrote: > On Friday 20 October 2017 21:27:43 Gene Heskett wrote: > > On Friday 20 October 2017 20:41:04 andy pugh wrote: > > > On 20 October 2017 at 20:00, Gene Heskett <[email protected]> > > > wrote: > > What I saw while running it with halrun, is that its working fine. > > But I may have found the problem. Somehow, and I don't recall doing > it, I have wound up trying to run all 3 steppers in both position, AND > velocity modes. How I arrived at that shall remain a mystery, but > probably by following man pages. Referring to the 750 page doc, since > the docs for the 5i25 are totally mute of any operational > configuration help, I find the docs say under hal components, > stepgens: > > velocity-cmd (only for velocity mode) > and > position-cmd (only for position mode) > > That seems to be the only place where that restriction is mentioned. > > So now I need to go thru the .hal file and make it one or the other. > > For a 3 or 4 axis mill, is there a best way? > > I've always used position, but I can as I've learned, that there are > also advantages to velocity, but do they actually exist w/o an encoder > feedback, which is normally not done with steppers. > > I have gone thru the hal file in the last 4 or 5 days, and cleaned it > up to be more logically readable, without actually changing anything, > so here is that hookup stanza for Z: > > #************************************* > # ---closedloop stepper signals for Z > #************************************* > net z-pos-cmd <= joint.2.motor-pos-cmd => pid.z.command > net z-vel-cmd <= joint.2.vel-cmd => pid.z.command-deriv > net z-pos-fb <= hm2_5i25.0.stepgen.02.position-fb => > joint.2.motor-pos-fb pid.z.feedback net z-idx-ena <=> > pid.z.index-enable > net z-mtr-vel <= pid.z.output => hm2_5i25.0.stepgen.02.velocity-cmd > net z-enable <= joint.2.amp-enable-out => > hm2_5i25.0.stepgen.02.enable pid.z.enable > > This is what all 3 active axises look like. So which do I nuke out of > the above to arrive at pure position, or pure velocity control? And > what about line 2? > > The assumption seems to be, if following the description starting on > page 655 of the doc.pdf, is all position mode, the velocity pins > aren't even shown in the gfx on the next page. If the velocity mode > has been added since that gfx was created, perhaps the gfx should also > be updated to reflect that? In the meantime I am going to make it > position only, just for S&G. With luck, this will fix it. >
Update after todays frustrations. Background. I have two Dells, one 520x I generally use for programming these cards, either in its one pci slot, or for 7i90's, a 3 foot parallel cable to fit the parport on one end, and the 26 pin header of a 7i90 on the other. I have 4 ea 5i25's. A 5th one has been tossed as the ptc blew up hard enough to leave a carbonized crather in the pcb. So it is not counted in the 4 I have. All have been flashed with 5i25_prob_rfx2.bit files, and at least 3 that will do a verify against that file, when plugged into the Dell 520. Plugged into the huge Optiplex 745 with a 3.4 GHz dual core intel cpu, 2 of them will turn the power led orange, which stops the boot in its tracks in under a second from powerup. And two of them look to be 100% functional cards when plugged into the big Optiplex, except, with the pid's enabled, and the stepgens enabled, I can see the stepgen.nn.position-cmd's from the pid's just fine, but now no counts ever occur, and of course the position-fb's remain at 0.00000000. Loading up Andy's test config, after the loadrt of hm2_pci, a show shows a boatload of data, all of which looks good to me. One of the pins on the 2 cards that don't kill the Optiplex, does show, and that registers on the DRO too, the backlash move when I change the requested movement direction. Something is the .002 to .003" range, but after that, its all silent until I have moved that axis enough to trigger the following error. Its close to $200 for another pair of those 5i25's, so what are the chances they can be repaired for a bit less total sheckles? Thanks everybody. 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> ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
