hey guys getting a bit stuck here and it is the same issue as this old email so I thought I would answer it and see what you guys think
I have a standard Hal and ini file generated from Pncconf for a 5i25 and 7i76 combo. just trying to connect my encoder and graph the following error in Halscope. all I want to do at the moment is use Halscope to allow me to manually tune my servo drive parameters. (I will not be tuning inside linuxcnc at the moment that will have to wait until my new mesa cards come Can someone please advise what hal and ini stuff needs to be changed to get my feedback into halscope regards Andrew I have just connected my x axis encoder to my spindle On Thu, Feb 27, 2020 at 7:01 AM Ed W <li...@wildgooses.com> wrote: > Hi, I've made good progress converting my little OmioCNC X6 from Mach3 > to LinuxCNC. I think I owe a writeup at some point, but I still have a > few glitches before I'm ready to do that. > > First thing which I'm worrying about is that having run pncconf, it > generates an output for my open loop steppers which involves a PID type > setup, eg here is my X axis from the ini > > > [AXIS_X] > MAX_VELOCITY = 100.0 > MAX_ACCELERATION = 750.0 > MIN_LIMIT = -0.01 > MAX_LIMIT = 355.0 > > [JOINT_0] > TYPE = LINEAR > HOME = 0.0 > FERROR = 1.0 > MIN_FERROR = 0.01 > MAX_VELOCITY = 100.0 > MAX_ACCELERATION = 750.0 > # 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 = 125.00 > STEPGEN_MAXACCEL = 937.50 > P = 1000.0 > I = 0.0 > D = 0.0 > FF0 = 0.0 > FF1 = 1.0 > FF2 = 0.0 > BIAS = 0.0 > DEADBAND = 0.0 > MAX_OUTPUT = 0.0 > # these are in nanoseconds > DIRSETUP = 10000 > DIRHOLD = 10000 > STEPLEN = 5000 > STEPSPACE = 5000 > STEP_SCALE = 320.0 > MIN_LIMIT = -0.01 > MAX_LIMIT = 355.0 > HOME_OFFSET = -5.000000 > HOME_SEARCH_VEL = -33.333333 > HOME_LATCH_VEL = 0.500000 > HOME_FINAL_VEL = 33.333333 > HOME_USE_INDEX = NO > HOME_IGNORE_LIMITS = YES > HOME_SEQUENCE = 1 > > > The corresponding .hal (again by pncconf) is as follows: > > > #******************* > # AXIS X JOINT 0 > #******************* > > setp pid.x.Pgain [JOINT_0]P > setp pid.x.Igain [JOINT_0]I > setp pid.x.Dgain [JOINT_0]D > setp pid.x.bias [JOINT_0]BIAS > setp pid.x.FF0 [JOINT_0]FF0 > setp pid.x.FF1 [JOINT_0]FF1 > setp pid.x.FF2 [JOINT_0]FF2 > setp pid.x.deadband [JOINT_0]DEADBAND > setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT > setp pid.x.error-previous-target true > setp pid.x.maxerror .0005 > > net x-index-enable <=> pid.x.index-enable > net x-enable => pid.x.enable > net x-pos-cmd => pid.x.command > net x-pos-fb => pid.x.feedback > net x-output <= pid.x.output > > # Step Gen signals/setup > > setp hm2_5i25.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP > setp hm2_5i25.0.stepgen.00.dirhold [JOINT_0]DIRHOLD > setp hm2_5i25.0.stepgen.00.steplen [JOINT_0]STEPLEN > setp hm2_5i25.0.stepgen.00.stepspace [JOINT_0]STEPSPACE > setp hm2_5i25.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE > setp hm2_5i25.0.stepgen.00.step_type 0 > setp hm2_5i25.0.stepgen.00.control-type 1 > setp hm2_5i25.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL > setp hm2_5i25.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL > setp hm2_5i25.0.stepgen.00.step.invert_output true > setp hm2_5i25.0.stepgen.00.direction.invert_output true > > # ---closedloop stepper signals--- > > net x-pos-cmd <= joint.0.motor-pos-cmd > net x-vel-cmd <= joint.0.vel-cmd > net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd > net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb > net x-pos-fb => joint.0.motor-pos-fb > net x-enable <= joint.0.amp-enable-out > net x-enable => hm2_5i25.0.stepgen.00.enable > > # ---setup home / limit switch signals--- > > net min-home-x => joint.0.home-sw-in > net min-home-x => joint.0.neg-lim-sw-in > net x-pos-limit => joint.0.pos-lim-sw-in > > > What would someone experienced recommend I do here? This is a simple > openloop stepper machine, no feedback or position sensors. Just a 6i25 > to a basic breakout board, going to a chinese 556 stepper driver clone > and onto some small steppers on a 6040 type of machine? > > Is there any disadvantage (or advantage) to leaving all the PID and > closed loop stuff in here? > > > Thanks > > Ed W > > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users >
chevalier_cnc_mill.hal
Description: Binary data
chevalier_cnc_mill.ini
Description: Binary data
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