On 9/23/23 05:45, andy pugh wrote:
On Sat, 23 Sept 2023 at 00:26, gene heskett <ghesk...@shentel.net> wrote:
So why can't I get a decent decel while homing it?
What is the [JOINT] Accel (rather than [AXIS] and what accel is used
by the stepgen?
currently:
[TRAJ]
...
ANGULAR_UNITS = degree
MAX_ANGULAR_VELOCITY = 3600.00
DEFAULT_ANGULAR_VELOCITY = 500.00
...
#********************
# Axis A is angular
#********************
[AXIS_A]
MAX_VELOCITY = 360.000
MAX_ACCELERATION = 12000.00
[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
HOME_SEQUENCE = 0
HOME_SEARCH_VEL = 10.50
HOME_LATCH_VEL = -3.10
HOME_FINAL_VEL = 16.3
HOME_OFFSET = 0
VOLATILE_HOME = 1
FERROR = 0.50
MIN_FERROR = 0.25
MAX_VELOCITY = 360.000
MAX_ACCELERATION = 12000
STEPGEN_MAXVEL = 9600
STEPGEN_MAXACCEL = 19200
STEPSCALE = 22.22222222222
driver microstep=8, 5/1 worm drive to turn workpiece. Printed chuck on
worm shaft. So one microstep is approximately 0.045 degrees. The stepgen
is loafing, taking naps between steps. Today I'll see about making the
default vels much faster.
I am assuming that the [TRAJ] value is used to home, but is that the
case? IDK & the docs don't say. Which setting in in control while homing?
if unit is degree that 360 s/b 1 rpm but the driver is capable of
around 4 to 5 rps and is doing around 400 rpm on the 6040 with identical
hdwe, a 3 phase, 3nm stepper/servo w/no pid. The pid is in the
controller, with an optical encoder in the motor. The Encoder cable
reaches only the controller. They get to where they are sent, or turn
off motor current and close an alarm signal which will e-stop linuxcnc.
The controller also uses the error to control motor current, 1 rpm =
less than a degree of motor heating. Motor only gets hot after 2 days of
3 to 4 hundred rpms. If you've a shop full of these motors, your
electric bill will go down but the shop heating bill will go up cuz
there's no heat from these motors. For me its doesn't matter as the
garage is all electric, and probably 5x better insulated than the house.
6" of blown in insulation in the walls, another foot of it on the
ceiling. One 700 watt heater keeps it toasty all winter and a 5k window
AC keeps it cool all summer.
In this case the whole thing, controller & worm is mounted on the front
side of motor/worms base adapter on the far left end of the table with a
live center on the far right end of the table. Bases for both are 3d
printed. A 45 volt, 3.3 amp psu is hanging on a wall behind the left
side of the mill. I intend to use this to do the preliminary rounding
of the 2x2x21 inch square hard maple stick, which it can do in an hour
compared to around 40 hours on the 6040 cuz its doing it with a 1/16",
.250 LOC round nose, and that tool is about 10,000% more fragile. On the
6040, the actual thread cutting of a 12mm pitch, 2 start buttress thread
is about 2 hours, so I can make a screw every 2 days on the 6040, but if
I do the rounding on the go704, I can do 3 screws a day.
Hanpose in China, is now making these stepper/servo's in 2 phase, with
matching controllers rated for 90 volts, but the psu people haven't
caught up. And they are doing it for the nema17 3d printer crowd, I'm
redoing a tronxy-400 with them.
I'm also building a printer farm to similarly speed up the rest of the
parts for this woodworkers vise screw. With only one small printer it
takes around 2 weeks to print the rest of it.
Thanks Andy. Take care & stay well.
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, 1940)
If we desire respect for the law, we must first make the law respectable.
- Louis D. Brandeis
Genes Web page <http://geneslinuxbox.net:6309/>
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