I've finally had some time to get back to the CNC upgrade and I copied the test machine config folder to the Mill PC. Once I got the correct parallel port cable straightened around to actually not fault on Limit switches the jog buttons created motion.
I can report that the Y axis behaved really badly with shuddering during the first part of higher speed motion when MAX_ACCELERATION = 15.0 # 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 = 2.5 STEPGEN_MAXACCEL = 18.75 I changed the values to match the Parallel port version MAX_ACCELERATION = 15.0 STEPGEN_MAXACCEL = 35.0 And motion went back to nice and smooth. Initial testing didn't have backlash compensation uncommented. ============================================================ Now a new problem or not so much a problem but I can't figure out how to fix it and it's probably right in front of my nose. The Z axis is a knee, not a quill and on the 7i92H the knee is now going in the wrong direction. On the parallel port version I have this invert 1 in the hal file to make the knee go in the correct direction. net zstep => parport.0.pin-06-out setp parport.0.pin-06-out-reset 1 setp parport.0.pin-07-out-invert 1 net zdir => parport.0.pin-07-out I can't see anything in the 7i92H hal that would invert the direction signal out to the stepper driver. What am I missing? #******************* # AXIS Z #******************* setp pid.z.Pgain [AXIS_2]P setp pid.z.Igain [AXIS_2]I setp pid.z.Dgain [AXIS_2]D setp pid.z.bias [AXIS_2]BIAS setp pid.z.FF0 [AXIS_2]FF0 setp pid.z.FF1 [AXIS_2]FF1 setp pid.z.FF2 [AXIS_2]FF2 setp pid.z.deadband [AXIS_2]DEADBAND setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT setp pid.z.error-previous-target true #setp pid.z.maxerror .0005 net z-index-enable <=> pid.z.index-enable net z-enable => pid.z.enable net z-pos-cmd => pid.z.command #net z-vel-cmd => pid.z.command-deriv net z-pos-fb => pid.z.feedback net z-output => pid.z.output # Step Gen signals/setup setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE setp hm2_7i92.0.stepgen.02.step_type 0 setp hm2_7i92.0.stepgen.02.control-type 1 setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd <= axis.2.motor-pos-cmd net z-vel-cmd <= axis.2.joint-vel-cmd net z-output => hm2_7i92.0.stepgen.02.velocity-cmd net z-pos-fb <= hm2_7i92.0.stepgen.02.position-fb net z-pos-fb => axis.2.motor-pos-fb net z-enable <= axis.2.amp-enable-out net z-enable => hm2_7i92.0.stepgen.02.enable net max-home-z => axis.2.home-sw-in net max-x-y-min-z => axis.2.neg-lim-sw-in net max-home-z => axis.2.pos-lim-sw-in _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
