[Emc-users] more on using gamepads to drive a mill
Greetings all; I have placed a copy of the modified joypad_v3.hal and some of the src files pulled from the wiki page links at: http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?A_New_Approach_For_Using_Joypads_With_EMC2 at: http://gene.homelinux.net:85/gene/emc/4xis-gamepad/ These expand the wiki article to allow the A axis to also be controlled by a Saitek gamepad, from an lsusb -v: ID 06a3:040b Saitek PLC If you follow the wiki's steps, joypad_v3.hal from my site should be the magic twanger to enable an A axis. Other gamepads may also be usable. This one rather seems to be the deluxe model. I have enough unused buttons left over to have a yard sale. :) Many thanks for the help over IRC, it is much appreciated. -- 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) The NRA is offering FREE Associate memberships to anyone who wants them. https://www.nrahq.org/nrabonus/accept-membership.asp We interrupt this fortune for an important announcement... -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
Hi Peter, If it is edge sensitive then as you say, inverting the signal has little effect. I was going by your previous statement where you said it was dependent on the state. After doing more tests, noise looks to be a possible culprit. It seems odd that I have a relatively bad noise problem on the index while A and B are fine. They all run down the same screened cable. I ran some tests and the other axis also very occasionally misses. Neither axis loses position while running so A and B don't seem to be affected. From your docs, A and B are filtered. Does Z have the same filtering? The 7i29 has a relatively long ribbon (about 4') so it may be that it is picking up noise. I will first add some common mode chokes to the 7i29 motor outputs (works well for Geckos and Rutex drives). If that has no effect I'll try moving the encoders to the 7i33. That would entail a lot of rerouting and remaking cables so it would be a last resort. By the way, when the encoder inputs are set up for complementary signals, what happens if one wire becomes disconnected? Is there a fault signal? Les The hardware works (just tested SV12 encoder 5). There may not be much apparent difference between inverted or non-inverted index because they are both edge triggered. It looks like the driver does not set the ABGateIndex bit so what I said about index happening all the time with the wrong index polarity would not happen, just the home position might change by a count or 2 depending in index width (assuming a normal rotary encoder short index). If swapping the leads solves your problem, it might be electrical troubles. The current driver not setting ABGateindex means a narrow index pulse would work regardless of polarity though the home position would change slightly depending on whether the rising or falling edge generates the index event (since an edge is always needed) -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
On Fri, 10 Jul 2009, Leslie Newell wrote: Date: Fri, 10 Jul 2009 17:39:19 +0100 From: Leslie Newell les.new...@fastmail.co.uk Reply-To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Subject: Re: [Emc-users] Hostmot2 homing Hi Peter, If it is edge sensitive then as you say, inverting the signal has little effect. I was going by your previous statement where you said it was dependent on the state. After doing more tests, noise looks to be a possible culprit. It seems odd that I have a relatively bad noise problem on the index while A and B are fine. They all run down the same screened cable. I ran some tests and the other axis also very occasionally misses. Neither axis loses position while running so A and B don't seem to be affected. From your docs, A and B are filtered. Does Z have the same filtering? The 7i29 has a relatively long ribbon (about 4') so it may be that it is picking up noise. I will first add some common mode chokes to the 7i29 motor outputs (works well for Geckos and Rutex drives). If that has no effect I'll try moving the encoders to the 7i33. That would entail a lot of rerouting and remaking cables so it would be a last resort. By the way, when the encoder inputs are set up for complementary signals, what happens if one wire becomes disconnected? Is there a fault signal? Les Z hardware filtering is identical to A and B. With your current filtering count rates up to 4 MHZ are possible and noise pulses shorter that ~.5 usec are rejected. This may still be too fast for your noise environment. Unfortunately, the HM2 driver does not support lowering the encoder sample rate sample rate yet, but this could be tried by using the raw-write command in your HAL init file. With a 5I20, the encoder sample rate is 33 MHz, when the filter is on, 15 clocks are required to recognize an input (the ~.5 uSec above) If for example the sample rate were lowered to 3.3 MHz, those 15 clocks would now be ~5 usec, much better at eliminating PWM interference, and stil capable are reading encoder inputs up to ~400 KHz If you disconnect one side of the differential inputs, that input will likely not work as differential inputs have a 130 Ohm termination resistor and enough hyteresis that they will not switch when only one input is driven. There is no encoder fault detection, that is better left to FE and PID saturation detect. Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
Leslie, If you are using this under florescent lights you will pick-up a lot of noise on a four foot cable. If the cable is shielded it shouldn't pick up much noise though. Is the cable shielded? LennyWayne Leslie Newell wrote: Hi Peter, If it is edge sensitive then as you say, inverting the signal has little effect. I was going by your previous statement where you said it was dependent on the state. After doing more tests, noise looks to be a possible culprit. It seems odd that I have a relatively bad noise problem on the index while A and B are fine. They all run down the same screened cable. I ran some tests and the other axis also very occasionally misses. Neither axis loses position while running so A and B don't seem to be affected. From your docs, A and B are filtered. Does Z have the same filtering? The 7i29 has a relatively long ribbon (about 4') so it may be that it is picking up noise. I will first add some common mode chokes to the 7i29 motor outputs (works well for Geckos and Rutex drives). If that has no effect I'll try moving the encoders to the 7i33. That would entail a lot of rerouting and remaking cables so it would be a last resort. By the way, when the encoder inputs are set up for complementary signals, what happens if one wire becomes disconnected? Is there a fault signal? Les The hardware works (just tested SV12 encoder 5). There may not be much apparent difference between inverted or non-inverted index because they are both edge triggered. It looks like the driver does not set the ABGateIndex bit so what I said about index happening all the time with the wrong index polarity would not happen, just the home position might change by a count or 2 depending in index width (assuming a normal rotary encoder short index). If swapping the leads solves your problem, it might be electrical troubles. The current driver not setting ABGateindex means a narrow index pulse would work regardless of polarity though the home position would change slightly depending on whether the rising or falling edge generates the index event (since an edge is always needed) -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
Thanks Peter, rate sample rate yet, but this could be tried by using the raw-write command in your HAL init file. With a 5I20, the encoder sample rate is 33 MHz, when the filter is on, 15 clocks are required to recognize an input (the ~.5 uSec above) If for example the sample rate were lowered to 3.3 MHz, those 15 clocks would now be ~5 usec, much better at eliminating PWM interference, and stil capable are reading encoder inputs up to ~400 KHz How would I go about doing that? I'll start playing with chokes and other filtering first. I prefer to stop noise rather than trying to account for it in firmware. However it would be useful as a fallback plan. If you disconnect one side of the differential inputs, that input will likely not work as differential inputs have a 130 Ohm termination resistor and enough hyteresis that they will not switch when only one input is driven. That is a pity. One of the great things about a balanced line setup is that you can detect a broken wire. There is no encoder fault detection, that is better left to FE and PID saturation detect. I am not convinced. For instance if the cable fails just as you stop of while stopped, 'I' could easily drive the motor quite hard before any fault is detected. Les -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
Hi Wayne, It isn't that near a fluorescent light but it is obviously in close proximity to the motor cables and it is also in the same cabinet as the 7.5kW spindle inverter. The cable isn't screened. Screened 50 way ribbon cable is difficult to obtain and very expensive. Les Wayne Patterson wrote: Leslie, If you are using this under florescent lights you will pick-up a lot of noise on a four foot cable. If the cable is shielded it shouldn't pick up much noise though. Is the cable shielded? -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
On Fri, 10 Jul 2009, Leslie Newell wrote: Date: Fri, 10 Jul 2009 19:29:55 +0100 From: Leslie Newell les.new...@fastmail.co.uk Reply-To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Subject: Re: [Emc-users] Hostmot2 homing Thanks Peter, rate sample rate yet, but this could be tried by using the raw-write command in your HAL init file. With a 5I20, the encoder sample rate is 33 MHz, when the filter is on, 15 clocks are required to recognize an input (the ~.5 uSec above) If for example the sample rate were lowered to 3.3 MHz, those 15 clocks would now be ~5 usec, much better at eliminating PWM interference, and stil capable are reading encoder inputs up to ~400 KHz How would I go about doing that? I'll start playing with chokes and other filtering first. I prefer to stop noise rather than trying to account for it in firmware. However it would be useful as a fallback plan. If you disconnect one side of the differential inputs, that input will likely not work as differential inputs have a 130 Ohm termination resistor and enough hyteresis that they will not switch when only one input is driven. That is a pity. One of the great things about a balanced line setup is that you can detect a broken wire. There is no encoder fault detection, that is better left to FE and PID saturation detect. I am not convinced. For instance if the cable fails just as you stop of while stopped, 'I' could easily drive the motor quite hard before any fault is detected. No, PID saturate can get that in 20 mS or less... Les -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
Leslie Newell wrote: Hi Wayne, It isn't that near a fluorescent light but it is obviously in close proximity to the motor cables and it is also in the same cabinet as the 7.5kW spindle inverter. The cable isn't screened. Screened 50 way ribbon cable is difficult to obtain and very expensive. Les A simple test to see if screened cable will help can be done with some aluminum foil. Make a screen around the cable, ground it, and see if it helps. Just be carefull that the exposed foil doesn't short anything. Regards, John Kasunich -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
On Fri, 10 Jul 2009, Peter C. Wallace wrote: Date: Fri, 10 Jul 2009 11:52:00 -0700 (PDT) From: Peter C. Wallace p...@mesanet.com Reply-To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Subject: Re: [Emc-users] Hostmot2 homing On Fri, 10 Jul 2009, Leslie Newell wrote: Date: Fri, 10 Jul 2009 19:29:55 +0100 From: Leslie Newell les.new...@fastmail.co.uk Reply-To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Subject: Re: [Emc-users] Hostmot2 homing Thanks Peter, rate sample rate yet, but this could be tried by using the raw-write command in your HAL init file. With a 5I20, the encoder sample rate is 33 MHz, when the filter is on, 15 clocks are required to recognize an input (the ~.5 uSec above) If for example the sample rate were lowered to 3.3 MHz, those 15 clocks would now be ~5 usec, much better at eliminating PWM interference, and stil capable are reading encoder inputs up to ~400 KHz How would I go about doing that? I'll start playing with chokes and other filtering first. I prefer to stop noise rather than trying to account for it in firmware. However it would be useful as a fallback plan. Take a look at the HostMot2 manual page about raw-write and the regmap file. The sample rate of all encoders in HM2 is controlled by the QFilterRate register at offset 0x3400. If you set this register to 0x008 you will have 10 times longer filter time constants for all encoders (theres a little discussion of this in the regmap file). Setting it to 0x800 wil get you back to 33 MHz sample clock, Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
Thanks, I'll take a look. Les Take a look at the HostMot2 manual page about raw-write and the regmap file. The sample rate of all encoders in HM2 is controlled by the QFilterRate register at offset 0x3400. If you set this register to 0x008 you will have 10 times longer filter time constants for all encoders (theres a little discussion of this in the regmap file). Setting it to 0x800 wil get you back to 33 MHz sample clock, -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
Hi Peter, I can't see any way of achiving a trip in 20ms. I have the PID saturation limit hooked to my estop chain but it only trips once the amp reaches full output (BTW, the hostmot2 example config does not implement this). If the I term doesn't build up quickly to saturate the output then the axis can travel a long way. I just ran some tests and I could easily get my X axis to travel from near one limit to the other limit by disconnecting the encoder, just driven by I term. Good job I've got good limits :-) Interestingly, reducing the I term limit actually makes things worse. The I term limit doesn't trip an error but it does limit the output. Therefore you can end up with the output near maximum but not enough to trip an error. Les No, PID saturate can get that in 20 mS or less... -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
On Fri, 10 Jul 2009, Leslie Newell wrote: Date: Fri, 10 Jul 2009 22:34:37 +0100 From: Leslie Newell les.new...@fastmail.co.uk Reply-To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Subject: Re: [Emc-users] Hostmot2 homing Hi Peter, I can't see any way of achiving a trip in 20ms. I have the PID saturation limit hooked to my estop chain but it only trips once the amp reaches full output (BTW, the hostmot2 example config does not implement this). If the I term doesn't build up quickly to saturate the output then the axis can travel a long way. With a small error (1 count or so) thats possible but that also most likely indicates that your integral term is way too low. I just ran some tests and I could easily get my X axis to travel from near one limit to the other limit by disconnecting the encoder, just driven by I term. Good job I've got good limits :-) Interestingly, reducing the I term limit actually makes things worse. The I term limit doesn't trip an error but it does limit the output. Therefore you can end up with the output near maximum but not enough to trip an error. Thats probably something that should be fixed in the PID component (indicate saturate also when integral term is in limit) Les No, PID saturate can get that in 20 mS or less... -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
Hi Peter, I can't see any way of achiving a trip in 20ms. I have the PID saturation limit hooked to my estop chain but it only trips once the amp reaches full output (BTW, the hostmot2 example config does not implement this). If the I term doesn't build up quickly to saturate the output then the axis can travel a long way. For PWM Amps theres also a simple heuristic that can detect these kinds of faults: if the PWM output say 20% for 50 mS, has not changed sign and commanded velocity is 0 then fault. This still allows full torque against a static load but detects the BEMF from runaway. That gives me another idea: if commanded velocity is 0, set the PID output limit to 20% or so and use the PID saturate Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
Hi Peter, With a small error (1 count or so) thats possible but that also most likely indicates that your integral term is way too low. LOL. Most people have been telling mee i'm using too MUCH I term... Thats probably something that should be fixed in the PID component (indicate saturate also when integral term is in limit) I might do that. It isn't exactly a difficult fix. I wonder how much it would help though as again you need a fairly high limit or you will get nuisance tripping. I am a bit paranoid on this subject as this machine can be used as a manual, using high resolution MPGs. Therefore a runaway could be quite dangerous. Les -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
Hi Peter, Interesting idea. You probably still need a delay to allow for braking. This isn't a real problem to implement though. Les Peter C. Wallace That gives me another idea: if commanded velocity is 0, set the PID output limit to 20% or so and use the PID saturate -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
On Fri, 10 Jul 2009, Leslie Newell wrote: Date: Fri, 10 Jul 2009 23:12:38 +0100 From: Leslie Newell les.new...@fastmail.co.uk Reply-To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Subject: Re: [Emc-users] Hostmot2 homing Hi Peter, With a small error (1 count or so) thats possible but that also most likely indicates that your integral term is way too low. LOL. Most people have been telling mee i'm using too MUCH I term... I think somehow the P and I terms for HostMot2 are different from m5I20 and other systems... Thats probably something that should be fixed in the PID component (indicate saturate also when integral term is in limit) I might do that. It isn't exactly a difficult fix. I wonder how much it would help though as again you need a fairly high limit or you will get nuisance tripping. I think the nuisance tripping can be avoided with the right time delay in other words if your PID output or integral term are saturated for more than 50 mS or so, you are running open loop so something is dreadfully wrong... I am a bit paranoid on this subject as this machine can be used as a manual, using high resolution MPGs. Therefore a runaway could be quite dangerous. Les -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
On Fri, 10 Jul 2009, Leslie Newell wrote: Date: Fri, 10 Jul 2009 23:19:06 +0100 From: Leslie Newell les.new...@fastmail.co.uk Reply-To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Subject: Re: [Emc-users] Hostmot2 homing Hi Peter, Interesting idea. You probably still need a delay to allow for braking. This isn't a real problem to implement though. Les Peter C. Wallace That gives me another idea: if commanded velocity is 0, set the PID output limit to 20% or so and use the PID saturate Its easy to implement but I realized it does have a disadvantage compared to the previous method, limiting PID output to ~20 % would still give you full static torque, but dynamic performance for high frequency load variations would be worse (the drive has less voltage to work with so changing current will be slower) Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
How about tripping if the PID output is greater than a certain percentage and the encoder velocity is below a certain threshold? Les Peter C. Wallace wrote: I think the nuisance tripping can be avoided with the right time delay in other words if your PID output or integral term are saturated for more than 50 mS or so, you are running open loop so something is dreadfully wrong... I am a bit paranoid on this subject as this machine can be used as a manual, using high resolution MPGs. Therefore a runaway could be quite dangerous. -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] more on using gamepads to drive a mill
Sorry Gene, I get an error saying that access is denied for your page at http://gene.homelinux.net:85/gene/emc/4xis-gamepad/ Regards, Chris Le vendredi 10 juillet 2009 16:23:00, Gene Heskett a écrit : Greetings all; I have placed a copy of the modified joypad_v3.hal and some of the src files pulled from the wiki page links at: http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?A_New_Approach_For_Using_Joypa ds_With_EMC2 at: http://gene.homelinux.net:85/gene/emc/4xis-gamepad/ These expand the wiki article to allow the A axis to also be controlled by a Saitek gamepad, from an lsusb -v: ID 06a3:040b Saitek PLC If you follow the wiki's steps, joypad_v3.hal from my site should be the magic twanger to enable an A axis. Other gamepads may also be usable. This one rather seems to be the deluxe model. I have enough unused buttons left over to have a yard sale. :) Many thanks for the help over IRC, it is much appreciated. -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hostmot2 homing
On Fri, 10 Jul 2009, Leslie Newell wrote: Date: Fri, 10 Jul 2009 23:33:49 +0100 From: Leslie Newell les.new...@fastmail.co.uk Reply-To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Subject: Re: [Emc-users] Hostmot2 homing How about tripping if the PID output is greater than a certain percentage and the encoder velocity is below a certain threshold? Run the PID output through the LP filter before the test and that may well work (the PID output will be fairly noisy at low speeds until it has a better velocity estimate than DeltaPos/DeltaT) Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] more on using gamepads to drive a mill
On Friday 10 July 2009, sani.broy...@free.fr wrote: Sorry Gene, I get an error saying that access is denied for your page at http://gene.homelinux.net:85/gene/emc/4xis-gamepad/ Regards, Chris Oh fudge! Give me a few minutes to fix the perms, I made that up as root, duh... Le vendredi 10 juillet 2009 16:23:00, Gene Heskett a écrit : Greetings all; I have placed a copy of the modified joypad_v3.hal and some of the src files pulled from the wiki page links at: http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?A_New_Approach_For_Using_Joyp a ds_With_EMC2 at: http://gene.homelinux.net:85/gene/emc/4xis-gamepad/ These expand the wiki article to allow the A axis to also be controlled by a Saitek gamepad, from an lsusb -v: ID 06a3:040b Saitek PLC If you follow the wiki's steps, joypad_v3.hal from my site should be the magic twanger to enable an A axis. Other gamepads may also be usable. This one rather seems to be the deluxe model. I have enough unused buttons left over to have a yard sale. :) Many thanks for the help over IRC, it is much appreciated. -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- 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) The NRA is offering FREE Associate memberships to anyone who wants them. https://www.nrahq.org/nrabonus/accept-membership.asp Only adults have difficulty with childproof caps. -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] more on using gamepads to drive a mill
On Friday 10 July 2009, sani.broy...@free.fr wrote: Sorry Gene, I get an error saying that access is denied for your page at http://gene.homelinux.net:85/gene/emc/4xis-gamepad/ Regards, Chris Try it again Chris, I just made it all owned by apache:apache. Le vendredi 10 juillet 2009 16:23:00, Gene Heskett a écrit : Greetings all; I have placed a copy of the modified joypad_v3.hal and some of the src files pulled from the wiki page links at: http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?A_New_Approach_For_Using_Joyp a ds_With_EMC2 at: http://gene.homelinux.net:85/gene/emc/4xis-gamepad/ These expand the wiki article to allow the A axis to also be controlled by a Saitek gamepad, from an lsusb -v: ID 06a3:040b Saitek PLC If you follow the wiki's steps, joypad_v3.hal from my site should be the magic twanger to enable an A axis. Other gamepads may also be usable. This one rather seems to be the deluxe model. I have enough unused buttons left over to have a yard sale. :) Many thanks for the help over IRC, it is much appreciated. -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- 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) The NRA is offering FREE Associate memberships to anyone who wants them. https://www.nrahq.org/nrabonus/accept-membership.asp dark Yes, your honour, I have RSA encryption code tattood on my penis. Shall I show the jury? -- Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
