Re: [Emc-users] Steppers
Hi,
From your description 'the spindle rotated feebly but the slightest
touch on the spindle stopped it and it just sat there quivering and buzzing
gently'. This is the exactly the effect you get with a bi-phase stepmotor if
one wire is not connect to the driver. Check your connections carefully.
Measure coil resistance from the driver side of the driver to motor
connector.
Regards
John Harris Ex-Brit
- Original Message -
From: "Ian W. Wright"
To:
Sent: Thursday, October 15, 2009 3:02 PM
Subject: [Emc-users] Steppers
> Hi,
>
> I am totally perplexed! I have two apparently very similar
> stepper motors - i.e. made by the same company ( Oriental
> Stepper), both 32 size and single stack although one is
> about 1/4in longer than the other. Lets call them X and Y to
> avoid confusion. I also have two driver boards - not
> identical as I blew one up recently :_{ - one is a
> commercial microstepping board, set to abut 1.5A capacity
> and the other is a L297/L298 board - both are set to half
> stepping. Lets call these A and B. I had them connected up
> on a little machine with motor X driven by board A and Motor
> Y by board B and everything ran fine. I decided that I
> wanted to swap the axes over and so I unplugged motor X from
> board A and plugged it into board B and vice versa for motor
> Y. Now motor Y connected to the L297/l298 board had no power
> at all - the spindle rotated feebly but the slightest touch
> on the spindle stopped it and it just sat there quivering
> and buzzing gently. Motor X was quite happy and running at
> full power. I changed them back again and once again both
> motors ran at full power I did the changing over
> several times to verify that it wasn't due to a bad
> connection or something and I double checked that both
> motors were wired in exactly the same way - also that the
> EMC2 settings in the .INI file were the same for each axis.
>
> I can't find any data on the motors as they are obsolete,
> so I can't tell if there are any differences in the windings
> but both sets of coils ( they are 8 wire motors wired as 2
> series pairs of coils and the pair colours correspond on
> both motors) seem to be wired the same and have the same
> resistance on both motors.
>
> Does anyone have any words of wisdom to explain this
> phenomenon? It has me completely baffled
>
> Thanks, Ian
>
> --
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Re: [Emc-users] Puma on eBay
2009/10/15 Alex Joni <... A lot of text ...> > > [1] - http://www.youtube.com/watch?v=TLxwAX8G3oI > [1] - http://www.youtube.com/watch?v=AoOWi1r6-Eo > [2] - http://en.wikipedia.org/wiki/SCARA > [3] - http://en.wikipedia.org/wiki/Serial_manipulator > [4] - http://juve.ro/blog/puma > > > > Very nice write up Alex. Thanks for the info. I might get myself a bunch of cheap steppers and make a small prototype in MDF. It would be really interesting to see how it's working. Regards, Sven -- Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] slo-syn drivers
From: Andy Pugh >Are you saying that the step input works, but not the direction? >That does seem odd if they are wired similarly. Exactly. I also have other controllers, and they are connected very similarly, and the same stepper works fine on them, so it is not the stepper. >Can you sketch the actual wiring arrangment, including logic inputs >(Parallel port?) and grounds? pins: opto-5v from usb pulse-parallel port dir-parallel port with or without 7406 ic in circuit. awo-n.c. rdce-n.c. 1-a1 2-a2 3-b1 4-b2 5-v+ 6-Common Ground -- Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] GEOMETRY = ZXY in Axis
> On Thu, Oct 15, 2009 at 05:55:10PM +0200, vh5...@libero.it wrote: >> Hi, >> I can't rotate the backplot preview in Axis as requested in my >> application. >> I put in the .INI file, under [DISPLAY] section, the identifier GEOMETRY >> = ZXY >> but I can't see any difference in my preview. > > When all the axis letters are linear axes, their order makes no > difference. This is because translating by 1 unit in Z followed by > translating 1 unit in X is the same as translating by 1 unit in X > followed by translating 1 unit in Z. > > The order is important when rotational axes are involved, because > translating then rotating is different than rotating then translating; > and because translating around A then around B is different than > translating around B then around A. Jeff surely meant rotate around A then around B is different than rotate around B then around A. Regards, Alex -- Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Steppers
On Thu, Oct 15, 2009 at 10:02 PM, Ian W. Wright wrote:
> Hi,
>
> I am totally perplexed! I have two apparently very similar
> stepper motors - i.e. made by the same company ( Oriental
> Stepper), both 32 size and single stack although one is
> about 1/4in longer than the other. Lets call them X and Y to
> avoid confusion. I also have two driver boards - not
> identical as I blew one up recently :_{ - one is a
> commercial microstepping board, set to abut 1.5A capacity
> and the other is a L297/L298 board - both are set to half
> stepping. Lets call these A and B.
you didnt state current for driver B
I had them connected up
> on a little machine with motor X driven by board A and Motor
> Y by board B and everything ran fine. I decided that I
> wanted to swap the axes over and so I unplugged motor X from
> board A and plugged it into board B and vice versa for motor
> Y. Now motor Y connected to the L297/l298 board had no power
> at all - the spindle rotated feebly but the slightest touch
> on the spindle stopped it and it just sat there quivering
> and buzzing gently. Motor X was quite happy and running at
> full power. I changed them back again and once again both
> motors ran at full power I did the changing over
> several times to verify that it wasn't due to a bad
> connection or something and I double checked that both
> motors were wired in exactly the same way - also that the
> EMC2 settings in the .INI file were the same for each axis.
>
> I can't find any data on the motors as they are obsolete,
> so I can't tell if there are any differences in the windings
> but both sets of coils ( they are 8 wire motors wired as 2
> series pairs of coils and the pair colours correspond on
> both motors) seem to be wired the same and have the same
> resistance on both motors.
but what resistance
>
> Does anyone have any words of wisdom to explain this
> phenomenon? It has me completely baffled
also the inductance of the coils will effect the amount of current the
drivers can supply
Dave Caroline
by the way Midland Model Enginerr ex TOMORROW some of us brits meeting
near the Arc Eurotrade cnc stand around 11:30
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[Emc-users] Steppers
Hi,
I am totally perplexed! I have two apparently very similar
stepper motors - i.e. made by the same company ( Oriental
Stepper), both 32 size and single stack although one is
about 1/4in longer than the other. Lets call them X and Y to
avoid confusion. I also have two driver boards - not
identical as I blew one up recently :_{ - one is a
commercial microstepping board, set to abut 1.5A capacity
and the other is a L297/L298 board - both are set to half
stepping. Lets call these A and B. I had them connected up
on a little machine with motor X driven by board A and Motor
Y by board B and everything ran fine. I decided that I
wanted to swap the axes over and so I unplugged motor X from
board A and plugged it into board B and vice versa for motor
Y. Now motor Y connected to the L297/l298 board had no power
at all - the spindle rotated feebly but the slightest touch
on the spindle stopped it and it just sat there quivering
and buzzing gently. Motor X was quite happy and running at
full power. I changed them back again and once again both
motors ran at full power I did the changing over
several times to verify that it wasn't due to a bad
connection or something and I double checked that both
motors were wired in exactly the same way - also that the
EMC2 settings in the .INI file were the same for each axis.
I can't find any data on the motors as they are obsolete,
so I can't tell if there are any differences in the windings
but both sets of coils ( they are 8 wire motors wired as 2
series pairs of coils and the pair colours correspond on
both motors) seem to be wired the same and have the same
resistance on both motors.
Does anyone have any words of wisdom to explain this
phenomenon? It has me completely baffled
Thanks, Ian
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Re: [Emc-users] GEOMETRY = ZXY in Axis
On Thu, Oct 15, 2009 at 05:55:10PM +0200, vh5...@libero.it wrote: > Hi, > I can't rotate the backplot preview in Axis as requested in my application. > I put in the .INI file, under [DISPLAY] section, the identifier GEOMETRY = > ZXY > but I can't see any difference in my preview. When all the axis letters are linear axes, their order makes no difference. This is because translating by 1 unit in Z followed by translating 1 unit in X is the same as translating by 1 unit in X followed by translating 1 unit in Z. The order is important when rotational axes are involved, because translating then rotating is different than rotating then translating; and because translating around A then around B is different than translating around B then around A. Jeff -- Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Puma on eBay
>> <...> >> Yes, EMC2 definitely can do this. There is a general robot kinematics >> file. You have to >> measure the length of the arms between joints and put that into the >> program, so the transform >> matrices are built correctly. You also have to establish the alignment >> to each joint's home position. >> In EMC's sample-configs directory, you will find a puma sub-directory. >> It calls in the kinematics file "pumakins". >> >> Jon >> >> > Oooh, I'm wetting my pants! My idea is closer to working than I thought. > :) Right, it has been done before with some sort of results.[1] Actually there are a couple kinematics calculations included with emc2. For serial robots and for parallel kinematics. For serial robots based on the type there are: * scarakins - for SCARA type robots [2] * pumakins - kinematics file for a Unimate PUMA (antorpomorphic robot). I worked a while with these calculations, but I couldn't completely figure out the exact type of the robot (unimate had a couple puma's, with left and right arm configurations). There is a vismach simulation for pumakins, but it doesn't work 100% (straight XYZ lines aren't quite straight). * genserkins - general serial kinematics: kinematic calculation for any serial (max. 7 DOF) robot[3]. These functions are suitable for any type of industrial robot (which isn't a parallel kins). The kins support (although minor tweaks are needed) rotary and prismatic joints, so you only need to have a drawing of your robot, and you can use them. There is a small problem, that the kins sometimes don't converge.. but I haven't looked into that yet. I created a new puma configuration, based on genserkins, and the puma dimentions of Sam Sokolik's robot. I then did a 3D model of his puma, and created a vismach model from that. Once that was set up, I could run a regular g-code program and check if the result is ok. As you can see from the screenshots [4], the results are dead on. So the kins are working 100% accurate (when they are working ;). After the good news, there's time for the bad news ;) The kins (genserkins mostly) are working most of the time. There are some glitches when they don't (not sure yet why), but that made me realize emc2's motion controller currently doesn't really handle cases when kins aren't working. It's probably a non-recoverable error, but it should enter estop, stop what it's doing etc. Currently motion is hanging, so that means bigger problems. I would advise to test genserkins on simulated machines, until confident it works ok. The emc2 code (some part inherited from EMC1) suffers from mixup of axes and joints. There is ongoing work to clean this out, but it's still pretty far from beeing useable. This means that in some places things are mixed up. emc2 takes axes settings from the ini, but sets them as the joint limits (step generator) but not as the trajectory's joint-command outputs. In traj the limits are wrongly enforced as carthesian limits on the axes. This means it's quite some work to get a good config working (probably some hacking involved). Regards, Alex [1] - http://www.youtube.com/watch?v=TLxwAX8G3oI [1] - http://www.youtube.com/watch?v=AoOWi1r6-Eo [2] - http://en.wikipedia.org/wiki/SCARA [3] - http://en.wikipedia.org/wiki/Serial_manipulator [4] - http://juve.ro/blog/puma -- Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Puma on eBay
2009/10/15 Jon Elson > <...> > Yes, EMC2 definitely can do this. There is a general robot kinematics > file. You have to > measure the length of the arms between joints and put that into the > program, so the transform > matrices are built correctly. You also have to establish the alignment > to each joint's home position. > In EMC's sample-configs directory, you will find a puma sub-directory. > It calls in the kinematics file "pumakins". > > Jon > > Oooh, I'm wetting my pants! My idea is closer to working than I thought. :) -- Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Puma on eBay
Sven Wesley wrote: > Now when we talk robots, I asked Alex Joni about the kinematics for > controlling a robot like a XYZ-machine. I want to use a robot to run normal > 3 axis G-code and then let EMC2 handle the kinematics for all the joints. > Alex said it should work if I have a kinematics module that handle it. > Anyone did this before? > Yes, EMC2 definitely can do this. There is a general robot kinematics file. You have to measure the length of the arms between joints and put that into the program, so the transform matrices are built correctly. You also have to establish the alignment to each joint's home position. In EMC's sample-configs directory, you will find a puma sub-directory. It calls in the kinematics file "pumakins". Jon -- Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] GEOMETRY = ZXY in Axis
Hi, I can't rotate the backplot preview in Axis as requested in my application. I put in the .INI file, under [DISPLAY] section, the identifier GEOMETRY = ZXY but I can't see any difference in my preview. Can you help me? Best Regards Luigi -- Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] EMC2 7i43 config file request
P.J. Marsh wrote: > I currently have a parport / stepper CNC mill that I am in the process of > upgrading to a 7i43 controller. Would anyone on the list who has a stepper > driven system controlled by a 7i43 be able to mail me their configs, I just > want to have a look at some one elses working setup before doing my machine. Hi there, a sample config with steppers connected to a 7i43 is included with emc2. Look at hm2-stepper/7i43.ini. Poke in your stepper timing parameters and give it a whirl! > My machine has a short write up on wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Pjm - > the 7i43 should enable much better spindle encoder speeds to be read, there > by > improving the closed loop spindle speed control etc. That should work. The hm2-stepper sample config does not include an encoder counter, but it's easy to add, just change the [HOSTMOT2]CONFIG field to include "num_encoders=1". If you're using step&dir to control the spindle, then add another stepgen output by changing the current "num_stepgens=3" to "num_stepgens=4". Look in the dmesg to see which of the 7i43's pins have what signals. There should be plenty of I/O left over for your limit switches and pendant if you want to move that to the 7i43 too. -- Sebastian Kuzminsky -- Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] EMC2 7i43 config file request
Hi all, I currently have a parport / stepper CNC mill that I am in the process of upgrading to a 7i43 controller. Would anyone on the list who has a stepper driven system controlled by a 7i43 be able to mail me their configs, I just want to have a look at some one elses working setup before doing my machine. My machine has a short write up on wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Pjm - the 7i43 should enable much better spindle encoder speeds to be read, there by improving the closed loop spindle speed control etc. thanks and regards, Paul. - Contributor to: www.uhf-satcom.com - satellite monitoring pages IRC - pjm @ #hearsat on irc.starchat.net Correspondents should note that all communications to this address are automatically logged, monitored and/or recorded for lawful purposes. Telephone: 0044 (0)845 193 0050 Skype: M0EYT - -- Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Puma on eBay
On Thu, 2009-10-15 at 08:00 +0200, Sven Wesley wrote: > 2009/10/15 Kirk Wallace > > > Just in case someone might need one. > > > > > > http://cgi.ebay.com/WESTINGHOUSE-ULTIMATE-PUMA-700-ROBOT-0_W0QQitemZ370229778303 > > > > > Need and want are two different things. ;) > > Now when we talk robots, I asked Alex Joni about the kinematics for > controlling a robot like a XYZ-machine. I want to use a robot to run normal > 3 axis G-code and then let EMC2 handle the kinematics for all the joints. > Alex said it should work if I have a kinematics module that handle it. > Anyone did this before? Sure. There was a pumakins module available in the original NIST implementation of EMC. In fact Fred Proctor showed me the Puma they had implemented it for. But it gets even better because there are pumakins.c and pumakins.h in the current git version. I'm not familiar enough with the current file structure to see if puma has a current graphical sim display but I know that other robots like SCARA do. Rayh -- Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
