On Wed, 2 Dec 2020, Viesturs L?cis wrote:
Date: Wed, 2 Dec 2020 11:16:16 +0200
From: "[UTF-8] Viesturs L?cis" <[email protected]>
Reply-To: "Enhanced Machine Controller (EMC)"
<[email protected]>
To: "Enhanced Machine Controller (EMC)" <[email protected]>
Subject: Re: [Emc-users] Faulty THCAD board? 7i96 error? Advice needed! Was:
Plasma config with Telwin plasma source
Viesturs
pirmd., 2020. g. 30. nov., plkst. 22:57 ?? lietot??js Peter C. Wallace
(<[email protected]>) rakst??ja:
On Mon, 30 Nov 2020, Viesturs L?cis wrote:
> Date: Mon, 30 Nov 2020 22:35:21 +0200
> From: "[UTF-8] Viesturs L?cis" <[email protected]>
> Reply-To: "Enhanced Machine Controller (EMC)"
> <[email protected]>
> To: "Enhanced Machine Controller (EMC)" <[email protected]>
> Subject: [Emc-users] Faulty THCAD board? 7i96 error? Advice needed! Was:
> Plasma config with Telwin plasma source
>
> Nex problem with THCAD card is that if I fire the plasma and it
> creates the arc, encoder velocity decreases. Yes, it gets smaller.
> Approximate value is 96 for that particular torch height I have set. I
> watched both velocity and position pins of the encoder module.
> Position pin was increasing, so the pulses were still coming and it
> was not a glitch of a "frozen" value at velocity pin.
> My way of circumventing this is negative value for thc.scale_offset
> parameter. Then with negative encoder velocity value, which is
> decreasing as the plasma starts and negative offset I get positive
> voltage value in THC module.
>
Not sure what you are saying, I would expect the plasma voltage to
decrease once the arc is established (compared to the higher open circuit
voltage)
With encoder scale 31.25 and THCAD board set to 1/32 I would expect
encoder velocity of 120.5 with 0V on THCAD inputs, given the
calibration sticker says 120.5kHz at 0V, 961.5kHz at 300V (I have 300V
version)
And that is exactly what I get. The thing that I do not understand, is
why does encoder velocity _decrease_ if I apply some voltage to THCAD
inputs.
If you have a scale of 31.25 you would expect a negative frequency
You would need -31.25 to get a positive frequency, but if you are not using
the 7I96 plasma configuration you need to make sure that the encoder B input
is jumpered for single ended mode (if left unconnected) for negative counting or
grounded for positive counting.
I would not bother with plasmaC until you figure out your THCAD scaling
> And then there is a minor problem with 7i96 board:
> https://www.picpasteplus.com/v.php?i=f609e19c95
This indicates either poor latency in the host or lost communication with the
7I96. You might go through the standard latency reducing steps on the PC
(disabling power management/speed switching,EIST,C states >C1 etc etc)
Also if you have a Intel Ethernet chip on your PC you need to disable
IRQ coalescing as described in the hm2_eth manual page
Ok, I must be dumb or something like close to that.
My effort about disabling irq coalescing gets me "Cannot get device
coalesce setting. Operation not supported"
You have a RealTek MAC, the RTK driver does not have (or need) this setting
What else is there to turn off?
https://upload.picpaste.me/image/6rrEA
https://upload.picpaste.me/image/6roIV
https://upload.picpaste.me/image/6ryBQ
https://upload.picpaste.me/image/6rdGH
https://upload.picpaste.me/image/6r4SM
https://upload.picpaste.me/image/6r9bU
https://upload.picpaste.me/image/6rDcs
https://upload.picpaste.me/image/6rpkB
https://upload.picpaste.me/image/6dIW2
https://upload.picpaste.me/image/6dhuS
https://upload.picpaste.me/image/6dLIo
I would probably disable IGD Turbo and maybe add idle=poll to the kernel command
line
When I ping the 7i96 board, I get response times of 0,3-0,4 ms. Is that OK?
That's pretty terrible
If that cannot be improved you may have to increase the servo thread period to
2000 ms or so (this also means the per joint P terms in the hal file must be set
to 500)
Viesturs
Peter Wallace
Mesa Electronics
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