Re: [Emc-users] HAL Error, what did I do wrong?
- Original Message - From: John Kasunich [EMAIL PROTECTED] To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Sent: Friday, August 03, 2007 11:21 AM Subject: Re: [Emc-users] HAL Error, what did I do wrong? This is a head-scratcher. snip What version are you running? Do you have any other addf commands in your file that end in zero? Try removing the comment after the addf command? Let me know what you find out. Regards, John Kasunich Thanks once again John, I removed the comment after the addf and got it to run. I thought the position error had to do with PID position but I know I commanded moves to 0 without error. I was running 2.1.branch but changed 2.1.7 when it was released a couple of days ago. I'm seeing numbers in my Axis Hal configuration watch window. Now to connect the analog out to the drives analog in and see if I can tune it. I added another limit 2.0 to the feedback rpm going into the pid loop. I limited the rate of change to 3000 rpm / sec figuring 3 rpm per 1ms servo thead fperiod. So now my negative spike generated from threading resetting the spindle position will be limited to 3 rpm in one servo period. If this thing is tunable I should have a pretty nice closed loop spindle control... hopefully! Thanks again Roger Neal - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] VFD Braking Resistor
On Sat, 2007-08-04 at 01:23 -0500, RogerN wrote: - Original Message - From: Kirk Wallace [EMAIL PROTECTED] To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Sent: Friday, August 03, 2007 10:49 AM Subject: [Emc-users] VFD Braking Resistor Hello Roger, I have been working on my lathe spindle VFD, so I have been following your messages. I got it mostly working last night, and during testing, ... snip braking on your setup? Kirk Wallace Unfortunately my drive takes more than a dynamic braking resistor, mine requires a dynamic braking unit. When the DC bus voltage gets to high, ... snip faults by limiting my decel rates. It's good to hear that the dynamic braking resistor does the job. My drive had DC injection braking, have you experimented with that? Thanks! Roger Neal I figured you had a good reason for doing what you were doing. Now, I know what it is. The VFD's I have gotten so far, have had dynamic braking built in, so I don't know anything different. I am going to guess that DC injection braking is when, instead of letting the motor coast, the VFD invokes a reverse direction command for the duration of the deceleration, limited to the current and voltage limits of the normal drive circuit? I think in the long run, your work with using a PID loop with the spindle VFD will allow us VFD users to optimize the last bit of potential from these drives. Right now it seems like a balancing act between performance and setting limits that are safe but restrictive. Thanks. Kirk Wallace - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] emc2 and kernel 2.6.20
Thanks, Paul. I already downloaded 2.1.7 via the update manager a day or so ago. What I don't understand is your file is only about 8K and when I updated it was over 5M. Why the difference or do I need to do something with what you sent me? Jack Ensor paul_c wrote: Attached, configure make logs for emc2-2.1.7 released on July 30th. - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] emc2 and kernel 2.6.20
paul_c wrote: Attached, configure make logs for emc2-2.1.7 released on July 30th. On Sat, Aug 04, 2007 at 07:46:38AM -0400, Jack Ensor wrote: Thanks, Paul. I already downloaded 2.1.7 via the update manager a day or so ago. What I don't understand is your file is only about 8K and when I updated it was over 5M. Why the difference or do I need to do something with what you sent me? Jack Ensor If you are using Ubuntu and installed 2.1.7 using the update manager, you don't need to do anything else. Jeff - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] Automation Direct Steppers
I'm looking at the most cost effective way to set up a small 2'x4' or 2'x2' portable plasma table. Has anyone used the Automation Direct steppers with EMC2? http://web4.automationdirect.com/adc/Shopping/Catalog/Motion_Control/Stepper_S ystems/Motors_-z-_Cables Drive Specs http://web4.automationdirect.com/static/specs/surestepdrive.pdf Motor Specs http://web4.automationdirect.com/static/specs/surestepmotors.pdf The drive input signals needed are: Logic Low pulled to 0.8 VDC or less Logic High 4VDC or higher Motor steps on falling edge of pulse with a min width of 0.5 microseconds Direction change for at least 2 microseconds before a pulse is sent. Is this standard stuff? Can I run this from my parallel port or do I need another board? The steppers vary from 83 oz-in to 434 oz-in from $20-$100... If I went with the biggest motor $100 and the drive $150 the power supply $100 and the cable $13 I would have $363 per axis at the most and $283 at the least... I also see the motor RPM falls off as the torque rating goes up. I buy a lot of stuff from Automation Direct so I trust the quality and the service is top notch... Sorry for the long winded post... I'd just like to get some hardware so I can make a motor spin... Thanks John - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Homing with index m5i20
John Kasunich wrote: The scope trace shows that the the home input to the motion controller is true during the first slope - that means EMC thinks it is already on the switch, and is trying to get off of it. From the HAL file: # Connect limit/home switch outputs to motion controller. newsig Xminlim bit newsig Xmaxlim bit newsig Xhome bit linksp Xminlim = m5i20.0.in-00-not linksp Xminlim = axis.0.neg-lim-sw-in linksp Xmaxlim = m5i20.0.in-01-not linksp Xmaxlim = axis.0.pos-lim-sw-in linksp Xhome = m5i20.0.in-00 linksp Xhome = axis.0.home-sw-in Note that the limit switch signal is connected to the -not pin. That's because your switches are active low. But the home signal is connected to the regular pin, not the -not one. So EMC is confused about the polarity of your home switch. The solution is to connect EMC's home input AND its negative limit input both to the -not driver pin. However, you can't connect two signals (Xminlim and Xhome) to one pin. You can connect two or more pins to one signal. I'd do it like this: # Connect limit/home switch outputs to motion controller. newsig Xminlim-and-home bit newsig Xmaxlim bit linksp Xminlim-and-home = m5i20.0.in-00-not linksp Xminlim-and-home = axis.0.neg-lim-sw-in linksp Xminlim-and-home = axis.0.home-sw-in linksp Xmaxlim = m5i20.0.in-01-not linksp Xmaxlim = axis.0.pos-lim-sw-in Since you are homing on the negative end of the axis, SEARCH_VEL must be negative. If you also make LATCH_VEL negative, it will home on the first index pulse outside the limit switch, which is probably not what you want. Make LATCH_VEL positive. Then the homing process will be: 1) negative slope at SEARCH_VEL until you hit the switch 2) positive slope at LATCH_VEL until you get off the switch 3) continue at the same positive slope until you hit the index 4) done Regards, John Kasunich Thank you very much for your detailed reply. I've applied your suggestions, homing works well and I've learnt some more! Many thanks, Richard - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT Encoder Question
Gene Heskett wrote: With the eval board at $150, and I doubt it comes with the rotary coil set, that raises the price of that toy quite a bit unless someone here wants to see if they can squeeze it into say $50 for a run of 100 or so. With the accuracy claimed, I can see it will take some means to diddle coil positions while the spindle is locked very accurately at 90 degree increments in order to achieve the accuracy claimed over a full revolution. This obviously is going to make the mechanical portion pretty expensive too. The rotary coils are your resolver. Your resolver should be built at the factory so there is no need for diddling. Then the question is, can emc2 interface, via a separate parport, the rather copious amount of data this thing can produce on demand, and make use of it at usable spindle speeds? That would appear to be easier on the software than trying to use the quadrature signals since their rep rate can get well into the megahertz range, pushing the interrupts right over the edge. Yes, you skip the absolute output and just use the A and B outputs that look just line an encoder. Don't try to interface something like this in software. Use a hardware encoder counter. You'd never use the quadrature signal to cause interrupts. Jon - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT Encoder Question
On Saturday 04 August 2007, Jon Elson wrote: Gene Heskett wrote: With the eval board at $150, and I doubt it comes with the rotary coil set, that raises the price of that toy quite a bit unless someone here wants to see if they can squeeze it into say $50 for a run of 100 or so. With the accuracy claimed, I can see it will take some means to diddle coil positions while the spindle is locked very accurately at 90 degree increments in order to achieve the accuracy claimed over a full revolution. This obviously is going to make the mechanical portion pretty expensive too. The rotary coils are your resolver. Your resolver should be built at the factory so there is no need for diddling. Maybe, maybe not. I have wound coils before, and it would be a learning experience. Then the question is, can emc2 interface, via a separate parport, the rather copious amount of data this thing can produce on demand, and make use of it at usable spindle speeds? That would appear to be easier on the software than trying to use the quadrature signals since their rep rate can get well into the megahertz range, pushing the interrupts right over the edge. Yes, you skip the absolute output and just use the A and B outputs that look just line an encoder. Don't try to interface something like this in software. Use a hardware encoder counter. You'd never use the quadrature signal to cause interrupts. Another accessory board? Whose would you suggest? And which .ini file? -- Cheers, Gene There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order. -Ed Howdershelt (Author) I stayed up all night playing poker with tarot cards. I got a full house and four people died. -- Steven Wright - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] G28 return to home
From the CNC Programming Handbook by Peter Smid (ISBN 0-8311-3158-6) and basically describing Fanuc behavior G28 is NOT modal, the G28 must appear in each block where used G28 in a block by itself is not valid, one or more axis parameters must be supplied. Only those axes specified will move. Traverse rate will be rapid, like in a G00. The axis parameter must have a value specified (Fanuc behavior). The value will obey the absolute or incremental mode currently in effect!!! The value is used as an intermediate way point on the path to machine zero. If no intermediate way point is desired, the value should be such as to cause no motion away from the starting point. For example while in absolute mode the value should repeat the current position, or while in incremental mode the value should be zero. You MUST know what mode you are in before using a G28 command. The purpose of the intermediate way point is to avoid clamps etc. I do not know if some controls other than Fanuc will allow the value to be omitted and assume that no intermediate way point is desired, but this seems a reasonable behavior to me. Regards, Steve Stallings -Original Message- From: [EMAIL PROTECTED] [mailto:[EMAIL PROTECTED] Behalf Of Chris Radek Sent: Saturday, August 04, 2007 3:33 PM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] G28 return to home Hi Stuart, can you find for us a reference that explains how G28 typically works on non-EMC controls? If they all work the same except for EMC, we could talk about breaking with ngc for this. In particular I want to know how it should behave when in G90 mode and all axes are specified in G90 mode and some axes are specified in G91, all in G91, some Also is there a difference of behavior when axes are specified to be 0 and when they're nonzero? You said something about an intermediate point/move that I didn't understand. Thanks Chris - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Automation Direct Steppers
John- If you do use the AD steppers would you post your results here? I've got a small CNC router project scheduled for early next year and was planning on using those steppers. Thanks, Javid Butler - Original Message - From: John Thornton [EMAIL PROTECTED] To: emc-users@lists.sourceforge.net Sent: Saturday, August 04, 2007 10:36 AM Subject: Re: [Emc-users] Automation Direct Steppers Hi Roger What would be the advantage of the Gecko drive? Price is not an issue as it's only a few bucks cheaper. If I had any issues with the system with mix and match componets it could get sticky... as to who to call for support. Thanks for your input John I haven't used the Automation Direct steppers or drives but if it were me, I would buy the Automation Direct stepper motors and Gecko drives. Here's a Gecko drive rated up to 7A at up to 80V with 10 micro-step for $134. http://www.geckodrive.com/product.cfm?pid=10 Last time I looked, there were only 2 models of Gecko stepper drives, now I see 5. If you consider them you might want to see what the differences are, perhaps the newer models would be better. Roger Neal - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] G28 behavour
Hi Greg, et al Ah! Now the intermediate point make sense. As for an alarm with G28... I wouldn't know. I can comment that with G54 and G53 co-incident a G53Z0 does not cause an error when tool length offset is active. Because of this I've gotten in the habit of raising the spindle and then canceling the tool length offset. However, being the basic chicken I tend to: G53G0Z0M5 G49 G53G0(tool change position). (MSG, .. HTH Dave On Aug 4, 2007, at 3:09 PM, Greg Bentzinger wrote: Quote Date: Sat, 4 Aug 2007 17:41:19 -0400 From: Steve Stallings [EMAIL PROTECTED] Subject: Re: [Emc-users] G28 return to home To: Enhanced Machine Controller \(EMC\) emc-users@lists.sourceforge.net Message-ID: [EMAIL PROTECTED] Content-Type: text/plain; charset=us-ascii From the CNC Programming Handbook by Peter Smid (ISBN 0-8311-3158-6) and basically describing Fanuc behavior G28 is NOT modal, the G28 must appear in each block where used G28 in a block by itself is not valid, one or more axis parameters must be supplied. Only those axes specified will move. Traverse rate will be rapid, like in a G00. The axis parameter must have a value specified (Fanuc behavior). The value will obey the absolute or incremental mode currently in effect!!! The value is used as an intermediate way point on the path to machine zero. If no intermediate way point is desired, the value should be such as to cause no motion away from the starting point. For example while in absolute mode the value should repeat the current position, or while in incremental mode the value should be zero. You MUST know what mode you are in before using a G28 command. The purpose of the intermediate way point is to avoid clamps etc. End quote--- I must add that a move: G90 G28 Z0. Will generate an alarm if Tool offset ( G43 ) is not cancelled with a G49. G91 G28 Z0. ( will ignor a tool offset ) I do not know if having a cutter comp ( G41 | G42 ) has any affect on a G90 G28 X0. Y0. move. I have stuck with using G91 mode exclusively since it seemed less error (alarm) prone. Also G91 G28 is always based on the G53 native coordinate set. PGAB -- --- This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT Encoder Question
On Saturday 04 August 2007, Jon Elson wrote: Gene Heskett wrote: On Saturday 04 August 2007, Jon Elson wrote: The rotary coils are your resolver. Your resolver should be built at the factory so there is no need for diddling. I'm pretty sure the 2S1200 needs no coils Maybe, maybe not. I have wound coils before, and it would be a learning experience. But, you are going to spend the rest of your life trying to make a resolver that works as well as a commercial one. That doesn't make sense. I have looked at both the chip and the eval board data sheets, and the only inductors I see are some simple filter inductors on the power supply nets. From the schematics, one must assume that the 3 sets of balanced signals are, exciter signal, to be off-chip buffered to sufficient power to excite the driving coil, and the other two pairs of differential inputs are just as easily seen as inputs from the detection coils, presumably oriented at 90 degrees magnetically from each other. Then the question is, can emc2 interface, via a separate parport, the rather copious amount of data this thing can produce on demand, and make use of it at usable spindle speeds? That would appear to be easier on the software than trying to use the quadrature signals since their rep rate can get well into the megahertz range, pushing the interrupts right over the edge. Yes, you skip the absolute output and just use the A and B outputs that look just line an encoder. Don't try to interface something like this in software. Use a hardware encoder counter. You'd never use the quadrature signal to cause interrupts. Another accessory board? Whose would you suggest? And which .ini file? Umm, well, you could use my universal PWM Controller board. It has quadrature counters and PWM generators for servo amps for up to 4 axes, and digital inputs and outputs, too. See http://jelinux.pico-systems.com/univpwm.html for more info on it. There are other choices, too. For my toy, by the time I'd change all the motors and buy your amps, I can easily see the far side of a $500 bill before I make swarf again. I don't think I could justify that given the demonstrated sloppiness of this particular machine. However, I've been drooling over the Grizzly catalog, and their fancied up X3 sure looks good if I can drum up enough production business to make it pay its way somehow. For that, 4 of the 425 motors, and some gecko drives would seem to make the most sense. The 4th motor goes on the rotary table of course, so I could hob gears and such. But, this replaces just about everything else you would need, such as breakout boards, SSR mounting panels, cables, etc. A similar product is the Universal Stepper Controller, for any servo or stepper drive that takes step and direction pulses. For old versions such as EMC1 and BDI, suitable .ini files are on my web page. For all EMC2 versions, they are part of the list of configs directories that come with the EMC2 distribution. Specifically, univpwm for the PWM controller, and univstep for the stepper controller. I have some other versions that support the spindle DAC option, spindle-synced threading and such. Jon Thanks Jon. All meat for consideration when I get caught up on the honeydoos. -- Cheers, Gene There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order. -Ed Howdershelt (Author) Always leave room to add an explanation if it doesn't work out. - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] G28 return to home
On Mon, Jul 30, 2007 at 11:12:06AM -0500, Stuart Stevenson wrote: Gentlemen, I would like to request a change to the functionality of these commands. I would like to have them act only on the programmed axis. Here is an example of what we use on all our machines at the end of a program. I would like to have the same for the EMC controls. Thanks to both Stuart and Steve for their careful explanations of how the rest of the world does G28/G30. I've changed EMC to play along. This is the new EMC behavior (in CVS trunk only): 0. Error if radius compensation is on 1. Traverse (rapid) to the programmed waypoint which is interpreted in the normal way (honoring G5x, G92, G43, G90/G91). If no axis words are specified this step has no effect. 2. Traverse one or more axes to the reference/home position specified in machine coordinates, in machine units, in parameters 5161..5169 or 5181..5189 (for g28/g30 respectively). If axis words are specified in the block, only those axes are moved. If no axis words are specified in the block, ALL axes are moved. Please test and confirm that it works the way you expect. Chris - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
