On Sunday 02 September 2018 18:49:37 Gene Heskett wrote: > On Saturday 01 September 2018 16:24:20 Gene Heskett wrote: > > Greetings to my probably saner friends on this list; > > new info, and newer config > from the .ini file joint.0.=x > #FERROR = 0.0010 > FERROR = 0.25000 <-room for x to play > #MIN_FERROR = 0.00020 > MIN_FERROR = 0.12500 <- ditto, both must be in radius > HOME = 1.000 > HOME_IS_SHARED = 0 > HOME_OFFSET = 0.00 > HOME_SEARCH_VEL = 0.025 > HOME_LATCH_VEL = -0.005 > HOME_FINAL_VEL = 0.025 > So I can watch it moving in slow motion. > > From the .hal file: All lincurve.0.y-val-NN = 0.0000000, so nothing at > bwX0 below Also comments added to indicate homeing actions > ########################## > # do bedwear hookups # > # Z=joint.1 = stepgen.00 # > # X=joint.0 = stepgen.03 # > ########################## > # lincurve needs input from Z position > # 1st, drive the Z motor from motion.0.joint.1.pos-cmd > net Zdrive <= joint.1.pos-cmd => > hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd # watch bwZ to see if > it moves DOES > # now route feedback back to motion > net bwZ <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb => > joint.1.motor-pos-fb # now send real Z position to lincurve.0.in > net bwZ => lincurve.0.in Z-axis-track.in > # lincurve.0.in is Z's position > # so now send lincurve.0.out to X via offset.0.offset > net bwX0 <= lincurve.0.out => offset.0.offset # is desired offset, > currently 0.0000 regardless of Zpos # bwX0 remains at zero as homing x > progresses as Z hasn't moved yet # that gets us the X correction > factor out of Z's position > > # so now send desired X motion to offset.0.in > net bwX1 <= joint.0.pos-cmd => offset.0.in > # bwx1 progresses as x moves and is frozen by the error reported below > at -0.0924137 > > # send the offset diddled x to driver cmd > net bwX2 <= offset.0.out => > hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-cmd # bwX2 tracks bwX1 > exactly till home switch closes, x moves at top speed inward about > 1/2" and is frozen at bwX1's reading of 0.0924137 after the error > reported below. > > # now get its resultant position & send it to offset0,fb-pin > net bwX3 <= hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-fb => > offset.0.fb-in # bwX3 freezes at homex true, to .5372633" I'm assuming > after the rapid inward move which is done faster than the motor can > run > > # feed offset removed motor postion back to motion > net bwX4 <= offset.0.fb-out => joint.0.motor-pos-fb # result > to motion > via joint net bwX4 => X-axis-track.in # and to X-track.in > # as is bwX4, frozen at .5372633" > > All except bwX0, track perfectly while 1st backout motion, looking for > homez to go true is underway > > The home move is terminated with this error at the end of an > unprogrammed inward move at high speed when the home switch closes. > showing on LCNC screen: > > home switch inactive before start of latch move j-0 > > If I press F2 to re-activate, the motor just buzzes as apparently all > speed and accel settings are ignored for this unwanted move. > A 1/4 sec later a following error for joint.0 is displayed. > > I think I have a similar error in Z homing, but pressing f2 after this > initial stop always always gets a motor buzz and a following error. > > That, when I piddled around and finally got to z homing, results in > the carriage now moving the wrong direction if its off the switch, and > where it, 1 or 2 upgrades back and for quite some time if it was on > the switch, would first run to the right to get off the switch, then > do the normal search for switch things. I have NOT played with the > signs of the homing moves in the ini file in a year or more. > > Has your canary in the coal mine actually found a bug in master? I can > zero the HOME_SEQUENCE nums and test individually if that helps but comment HOME_SEQUENCE
And I have essentially the same error, throwing the feedback in the river by several inches of moving the carriage to the right a fraction of an inch according to the dro by driving it to the right when thats well off the switch already. The diff when restarted, hand driven to open the switch, does move left to find the switch, but it moves right about 10x what it takes to get off the switch, and just keeps going to the right. The axis backplot shows it jumping about 15" to the right, the carriage itself stopping from a joint error at about time to max accel. And I just found that changing the home_offset changes the direction of the jump. So I'll zero both of those for S&G. Works, I can "home" either axis. And I can move "home" anyplace the machine can reach. But I have a slight error between joint.0.motor-position-fb at -1.000 and joint.0.pos-fb at 0.9811404 with joint.0.motor-offset being the missing 0.01884607 Where is that offset coming from? Next, see if HOME_OFFSET can move say 90% of FERROR, currently set huge then 101% of FERROR, I have a theory now. But lowering FERROR gets me joint following errors, and LCNC must be restarted. And now that they have started, even restarting lcnc won't stop them. Leaving FERROR=1 makes it work, at least for Z There is an offset between > haven't yet. > > Time to go check the crock-pot and see if dinner is edible yet. > > Thanks for any clues. -- 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 Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
