subject:"\[Emc\-users\] steppers"

Latest plot (on X axis):  http://bgp.nu/~tom/pub/pid-X-ff2.png


--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] steppers with encoders in closed loop

Thanks Peter,
It did help a small bit.  Max f-error is now .00014 to .00015 (vs .00018 to 
.00019).  That is a sensitive parameter.  I played with FF2 = .001 (bad), .0006 
(bad), .00055 ok but ferror was .00016-.00017, so I left it at .0005.
-Tom

> On Jun 26, 2017, at 7:35 PM, Peter C. Wallace  wrote:
> 
> You might improve the tuning a bit with a teeny amount of FF2
> 
> 
> maybe .0005 as a start


--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] steppers with encoders in closed loop

2017-06-26 Thread Peter C. Wallace

On Mon, 26 Jun 2017, tom-...@bgp.nu wrote:

Date: Mon, 26 Jun 2017 19:20:14 -0400
From: tom-...@bgp.nu
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] steppers with encoders in closed loop

And for those following along at home, I got the machine set up in velocity 
mode and the pid tuned fairly well.  The following error is less than .0002 and 
the machine runs very nicely, and I can now Home to the index pulse on the 
encoder (which is where this all began)!  Yay.

Below are links to my .ini and .hal and plots of the f-error for each axis in 
case it helps someone in the future.

Thanks,
-Tom

http://bgp.nu/~tom/pub/EMCO-CL.hal
http://bgp.nu/~tom/pub/EMCO-CL.ini

http://bgp.nu/~tom/pub/pid-X.png
http://bgp.nu/~tom/pub/pid-Y.png
http://bgp.nu/~tom/pub/pid-Z.png

You might improve the tuning a bit with a teeny amount of FF2

maybe .0005 as a start

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
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.

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] steppers with encoders in closed loop

And for those following along at home, I got the machine set up in velocity 
mode and the pid tuned fairly well.  The following error is less than .0002 and 
the machine runs very nicely, and I can now Home to the index pulse on the 
encoder (which is where this all began)!  Yay.

Below are links to my .ini and .hal and plots of the f-error for each axis in 
case it helps someone in the future.

Thanks,
-Tom

http://bgp.nu/~tom/pub/EMCO-CL.hal
http://bgp.nu/~tom/pub/EMCO-CL.ini

http://bgp.nu/~tom/pub/pid-X.png
http://bgp.nu/~tom/pub/pid-Y.png
http://bgp.nu/~tom/pub/pid-Z.png



--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] steppers with encoders in closed loop

Thanks Todd, your suggestion lead me to the issue.  Turns out PNConfig sets the 
P term to 1000 (and Deadband to 0.0) at which point I got a terrible nose from 
the motors.  Setting the P term down to 10, and setting Deadband to 0.0005 has 
it running quite smoothly.  Now to run Halscope and get the tuning right…

-Tom
 

> On Jun 26, 2017, at 10:28 AM, Todd Zuercher <zuerc...@embarqmail.com> wrote:
> 
> Maybe you've already tried this, but I would think the easiest way is to use 
> PNCcofig to create an ordinary stepper configuration.  It will set up a 
> velocity mode config with the hardware stepgen sending the feedback to close 
> the pid loop.  Get that working.  Then modify that config by adding the 
> encoder reading, and replace the stepgen's feed back with the encoder's 
> feedback to the pid loop and to the axis.N.pos-fb (or joint.N.pos-fb in 
> Master)  Then adjust the P tuning till it "works".  I have such a setup on a 
> machine using step/dir servos, and using it with step motors would be exactly 
> the same (except for the PID tuning.)
> 
> The trick is to only try making one major modification at a time.  So first 
> get a velocity mode stepgen config working (without encoder feedback), Then 
> add encoder feedback (do it one axis at a time.) First get the DRO's working 
> with the encoder feedback.  Then connect the encoders to the PID loops.
> 
> - Original Message -
> From: "Tom Easterday" <tom-...@bgp.nu>
> To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
> Sent: Monday, June 26, 2017 8:37:47 AM
> Subject: Re: [Emc-users] steppers with encoders in closed loop
> 
> Exactly, and any help in getting my stall detection and position tracking 
> working using velocity mode would be greatly appreciated 
> 
> -Tom
> 
>> On Jun 26, 2017, at 6:52 AM, Rene Hopf <reneh...@mac.com> wrote:
>> 
>> there is no benefit in using them in linuxcnc, apart from stall detection or 
>> position tracking.
>> 
> 
> 
> --
> Check out the vibrant tech community on one of the world's most
> engaging tech sites, Slashdot.org! http://sdm.link/slashdot
> ___
> Emc-users mailing list
> Emc-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/emc-users
> 
> --
> Check out the vibrant tech community on one of the world's most
> engaging tech sites, Slashdot.org! http://sdm.link/slashdot
> ___
> Emc-users mailing list
> Emc-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/emc-users


--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] steppers with encoders in closed loop

2017-06-26 Thread Todd Zuercher

Maybe you've already tried this, but I would think the easiest way is to use 
PNCcofig to create an ordinary stepper configuration.  It will set up a 
velocity mode config with the hardware stepgen sending the feedback to close 
the pid loop.  Get that working.  Then modify that config by adding the encoder 
reading, and replace the stepgen's feed back with the encoder's feedback to the 
pid loop and to the axis.N.pos-fb (or joint.N.pos-fb in Master)  Then adjust 
the P tuning till it "works".  I have such a setup on a machine using step/dir 
servos, and using it with step motors would be exactly the same (except for the 
PID tuning.)

The trick is to only try making one major modification at a time.  So first get 
a velocity mode stepgen config working (without encoder feedback), Then add 
encoder feedback (do it one axis at a time.) First get the DRO's working with 
the encoder feedback.  Then connect the encoders to the PID loops.

- Original Message -
From: "Tom Easterday" <tom-...@bgp.nu>
To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
Sent: Monday, June 26, 2017 8:37:47 AM
Subject: Re: [Emc-users] steppers with encoders in closed loop

Exactly, and any help in getting my stall detection and position tracking 
working using velocity mode would be greatly appreciated 

-Tom

> On Jun 26, 2017, at 6:52 AM, Rene Hopf <reneh...@mac.com> wrote:
> 
> there is no benefit in using them in linuxcnc, apart from stall detection or 
> position tracking.
> 

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] steppers with encoders in closed loop

2017-06-26 Thread Tom Easterday

Exactly, and any help in getting my stall detection and position tracking 
working using velocity mode would be greatly appreciated 

-Tom

> On Jun 26, 2017, at 6:52 AM, Rene Hopf  wrote:
> 
> there is no benefit in using them in linuxcnc, apart from stall detection or 
> position tracking.
> 


--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] steppers with encoders in closed loop

2017-06-26 Thread Rene Hopf

> On 26. Jun 2017, at 00:12, tom-...@bgp.nu wrote:
> 
> I would like to attempt to get my machine with stepper motors running in 
> velocity mode with feedback from the encoders.

this setup makes absolutely no sense.
if the drive does not use the encoder, there is no benefit in using them in 
linuxcnc, apart from stall detection or position tracking.
proper closed loop drives will use the encoder for commutation, and operate the 
stepper more like a servo.
you cannot achieve that using your setup.

Rene
--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] steppers with encoders in closed loop

2017-06-26 Thread Gene Heskett

On Sunday 25 June 2017 22:13:04 Tom Easterday wrote:

> Gene,
> Thanks for the response.  The machine has been running great for years
> on those values but in position mode, not in velocity mode.  I
> wouldn't think that any of the step-gen parameters would need to
> change when changing to velocity mode...?

I wouldn't either if its been running that way, but they are, shall we 
say, settings that can push the envelope.

My motor drivers are generally in the 2M542 category, with a DM860 (junk, 
the microstep size mapping sucks) thrown in, and none of my steplengths 
are under 2000, with dir controls averaging twice that.  The opto's in 
these drivers preclude more than a 200-250 kilohertz drive with the 
motor laying loose on the table.  At a microstep divisor of 8, thats a 
leasurely 2000 rpm or so, with very little usable torque at those 
speeds. At the higher rotational speeds, the microstepping effect gets 
lost as the motors inductance becomes the current controlling factor. 
The driver can only do what its has the available voltage to do.

> I suspect the PID parameters I am using, DEADBAND?, MAX_OUTPUT? (not
> sure what these should be) or perhaps I have mis-wired, or not wired,
> an encoder or velocity parameter in the Hal config

Deadband we have been told, if its used in a stepper setup with encoders, 
must be greater than one step, else it will hunt. For servo's, I'd 
assume a deadband greater than the encoder resolution. I don't believe 
I'm using a non-zero value anyplace as my only encoders are for spindle 
control.  Rigid tapping, threading etc.

MAX_OUTPUT I normally use non-zero in pwm/pdm servo setups, to limit the 
PWM/PDM output duty cycle to around 98% as the driver needs the pulses 
for driver gate charging, and it it goes to a solid, 100% signal, the 
servo amp will shut itself off to protect the output transistors. I have 
2 of the pico pwm-servo drivers running nominally 1 hp motors. Works 
well on both TLM and the G0704.

The latter condition (missing hal connection) might be easier to see on a 
rockhopper report, but we don't have a viewer for those that will let 
you blow it up to a readable size, and then let you scan around on what 
would be if printed out and pasted up, nearly the size of a sheet of 
plywood. So I generally use the ctl-f (find) function of geany to check 
that sort of stuff.

Unless you've a bare barn door to tack them to, a printout is a bit hard 
to store in the average shop. :)

No clue if any of prattling on this helps but I hope so.

> -Tom
>
> > On Jun 25, 2017, at 9:11 PM, Gene Heskett  
wrote:
> >> On Sunday 25 June 2017 18:12:14 tom-...@bgp.nu wrote:
> >>
> >> I would like to attempt to get my machine with stepper motors
> >> running in velocity mode with feedback from the encoders.  Below
> >> are the relevant parts of my Hal and Ini files for just the X-Axis.
> >>  I figured I would do one axis at a time.  Currently nothing
> >> happens when I try to jog the X axis except if I hold it long
> >> enough it gives a following error.  If I try to home it, it faults
> >> with a following error.  I was trying to look various parameters on
> >> Halscope, triggering off of axis.0.f-error but nothing appears for
> >> any of the pins I was monitoring.   Are there any obvious errors in
> >> the config below to start with?
> >>
> >> -Tom
> >>
> >>  HAL 
> >> loadrt trivkins
> >> loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD
> >> num_joints=[TRAJ]AXES loadrt hostmot2
> >> loadrt hm2_7i43  config="firmware=hm2/7i43/SVST2_4_7I47B.BIT
> >> num_encoders=3 num_pwmgens=0 num_stepgens=4" loadrt pid
> >> names=pid.x,pid.y,pid.z
> >>
> >> addf hm2_7i43.0.read servo-thread
> >> addf motion-command-handler servo-thread
> >> addf motion-controller servo-thread
> >> addf pid.x.do-pid-calcsservo-thread
> >> addf pid.y.do-pid-calcsservo-thread
> >> addf pid.z.do-pid-calcsservo-thread
> >> addf hm2_7i43.0.write servo-thread
> >>
> >>
> >> #***
> >> #  AXIS X
> >> #***
> >> # axis enable chain
> >>
> >> setppid.x.Pgain[AXIS_0]P
> >> setppid.x.Igain[AXIS_0]I
> >> setppid.x.Dgain[AXIS_0]D
> >> setppid.x.bias[AXIS_0]BIAS
> >> setppid.x.FF0[AXIS_0]FF0
> >> setppid.x.FF1[AXIS_0]FF1
> >> setppid.x.FF2[AXIS_0]FF2
> >> setppid.x.deadband[AXIS_0]DEADBAND
> >> setppid.x.maxoutput[AXIS_0]MAX_OUTPUT
> >>
> >> net x-index-enable <=> pid.x.index-enable
> >> net x-enable => pid.x.enable
> >> net x-ouput => pid.x.output
> >> net x-pos-cmd => pid.x.command
> >> net x-vel-fb => pid.x.feedback-deriv
> >> net x-pos-fb => pid.x.feedback
> >>
> >> # Step Gen signals/setup
> >> setp hm2_7i43.0.stepgen.00.dirsetup[AXIS_0]DIRSETUP
> >> setp hm2_7i43.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
> >> setp hm2_7i43.0.stepgen.00.steplen [AXIS_0]STEPLEN
> >> setp

Re: [Emc-users] steppers with encoders in closed loop

2017-06-25 Thread Tom Easterday

Gene,
Thanks for the response.  The machine has been running great for years on those 
values but in position mode, not in velocity mode.  I wouldn't think that any 
of the step-gen parameters would need to change when changing to velocity 
mode...?

I suspect the PID parameters I am using, DEADBAND?, MAX_OUTPUT? (not sure what 
these should be) or perhaps I have mis-wired, or not wired, an encoder or 
velocity parameter in the Hal config

-Tom

> On Jun 25, 2017, at 9:11 PM, Gene Heskett  wrote:
> 
>> On Sunday 25 June 2017 18:12:14 tom-...@bgp.nu wrote:
>> 
>> I would like to attempt to get my machine with stepper motors running
>> in velocity mode with feedback from the encoders.  Below are the
>> relevant parts of my Hal and Ini files for just the X-Axis.  I figured
>> I would do one axis at a time.  Currently nothing happens when I try
>> to jog the X axis except if I hold it long enough it gives a following
>> error.  If I try to home it, it faults with a following error.  I was
>> trying to look various parameters on Halscope, triggering off of
>> axis.0.f-error but nothing appears for any of the pins I was
>> monitoring.   Are there any obvious errors in the config below to
>> start with?
>> 
>> -Tom
>> 
>>  HAL 
>> loadrt trivkins
>> loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD
>> num_joints=[TRAJ]AXES loadrt hostmot2
>> loadrt hm2_7i43  config="firmware=hm2/7i43/SVST2_4_7I47B.BIT
>> num_encoders=3 num_pwmgens=0 num_stepgens=4" loadrt pid
>> names=pid.x,pid.y,pid.z
>> 
>> addf hm2_7i43.0.read servo-thread
>> addf motion-command-handler servo-thread
>> addf motion-controller servo-thread
>> addf pid.x.do-pid-calcsservo-thread
>> addf pid.y.do-pid-calcsservo-thread
>> addf pid.z.do-pid-calcsservo-thread
>> addf hm2_7i43.0.write servo-thread
>> 
>> 
>> #***
>> #  AXIS X
>> #***
>> # axis enable chain
>> 
>> setppid.x.Pgain[AXIS_0]P
>> setppid.x.Igain[AXIS_0]I
>> setppid.x.Dgain[AXIS_0]D
>> setppid.x.bias[AXIS_0]BIAS
>> setppid.x.FF0[AXIS_0]FF0
>> setppid.x.FF1[AXIS_0]FF1
>> setppid.x.FF2[AXIS_0]FF2
>> setppid.x.deadband[AXIS_0]DEADBAND
>> setppid.x.maxoutput[AXIS_0]MAX_OUTPUT
>> 
>> net x-index-enable <=> pid.x.index-enable
>> net x-enable => pid.x.enable
>> net x-ouput => pid.x.output
>> net x-pos-cmd => pid.x.command
>> net x-vel-fb => pid.x.feedback-deriv
>> net x-pos-fb => pid.x.feedback
>> 
>> # Step Gen signals/setup
>> setp hm2_7i43.0.stepgen.00.dirsetup[AXIS_0]DIRSETUP
>> setp hm2_7i43.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
>> setp hm2_7i43.0.stepgen.00.steplen [AXIS_0]STEPLEN
>> setp hm2_7i43.0.stepgen.00.stepspace   [AXIS_0]STEPSPACE
>> setp hm2_7i43.0.stepgen.00.position-scale  [AXIS_0]SCALE
>> setp hm2_7i43.0.stepgen.00.maxaccel   [AXIS_0]STEPGEN_MAXACCEL
>> setp hm2_7i43.0.stepgen.00.maxvel   [AXIS_0]STEPGEN_MAXVEL
>> setp hm2_7i43.0.stepgen.00.step_type0
>> setp hm2_7i43.0.stepgen.00.control-type1
>> 
>> # --closed loop stepper signals--
>> net x-pos-cmd axis.0.motor-pos-cmd
>> net x-output => hm2_7i43.0.stepgen.00.velocity-cmd
>> net x-enable axis.0.amp-enable-out => hm2_7i43.0.stepgen.00.enable
>> 
>> # ---Encoder feedback signals/setup---
>> setp hm2_7i43.0.encoder.00.counter-mode 0
>> setp hm2_7i43.0.encoder.00.filter 1
>> setp hm2_7i43.0.encoder.00.index-invert 0
>> setp hm2_7i43.0.encoder.00.index-mask 0
>> setp hm2_7i43.0.encoder.00.index-mask-invert 0
>> setp hm2_7i43.0.encoder.00.scale  [AXIS_0]INPUT_SCALE
>> 
>> net x-pos-fb <= hm2_7i43.0.encoder.00.position
>> net x-vel-fb <= hm2_7i43.0.encoder.00.velocity
>> net x-pos-fb => axis.0.motor-pos-fb
>> net x-index-enable axis.0.index-enable <=>
>> hm2_7i43.0.encoder.00.index-enable net x-pos-rawcounts <=
>> hm2_7i43.0.encoder.00.rawcounts
>> 
>> # ---setup home / limit switch signals---
>> net x-home-sw =>  axis.0.home-sw-in
>> net x-neg-limit =>  axis.0.neg-lim-sw-in
>> net x-pos-limit =>  axis.0.pos-lim-sw-in
>> 
>>  end HAL 
>> 
>>  INI 
>> [EMC]
>> MACHINE = EMCO
>> DEBUG = 0
>> 
>> [DISPLAY]
>> DISPLAY = axis
>> EDITOR = gedit
>> PYVCP = custom_pyvcp.xml
>> POSITION_OFFSET = RELATIVE
>> POSITION_FEEDBACK = ACTUAL
>> MAX_FEED_OVERRIDE = 2.0
>> MAX_SPINDLE_OVERRIDE = 1.5
>> MIN_SPINDLE_OVERRIDE = 0.50
>> INTRO_GRAPHIC = linuxcnc.gif
>> INTRO_TIME = 2
>> PROGRAM_PREFIX = /home/tom/linuxcnc/nc_files
>> INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
>> POSITION_OFFSET = RELATIVE
>> POSITION_FEEDBACK = ACTUAL
>> DEFAULT_LINEAR_VELOCITY = 0.25
>> MAX_LINEAR_VELOCITY = 1.00
>> MIN_LINEAR_VELOCITY = 0.01
>> DEFAULT_ANGULAR_VELOCITY = 0.25
>> MAX_ANGULAR_VELOCITY = 1.00
>> MIN_ANGULAR_VELOCITY = 0.01
>> GEOMETRY = xyz
>> 
>> [FILTER]
>>

Re: [Emc-users] steppers with encoders in closed loop

2017-06-25 Thread Gene Heskett

On Sunday 25 June 2017 18:12:14 tom-...@bgp.nu wrote:

> I would like to attempt to get my machine with stepper motors running
> in velocity mode with feedback from the encoders.  Below are the
> relevant parts of my Hal and Ini files for just the X-Axis.  I figured
> I would do one axis at a time.  Currently nothing happens when I try
> to jog the X axis except if I hold it long enough it gives a following
> error.  If I try to home it, it faults with a following error.  I was
> trying to look various parameters on Halscope, triggering off of
> axis.0.f-error but nothing appears for any of the pins I was
> monitoring.   Are there any obvious errors in the config below to
> start with?
>
> -Tom
>
>  HAL 
> loadrt trivkins
> loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD
> num_joints=[TRAJ]AXES loadrt hostmot2
> loadrt hm2_7i43  config="firmware=hm2/7i43/SVST2_4_7I47B.BIT
> num_encoders=3 num_pwmgens=0 num_stepgens=4" loadrt pid
> names=pid.x,pid.y,pid.z
>
> addf hm2_7i43.0.read servo-thread
> addf motion-command-handler servo-thread
> addf motion-controller servo-thread
> addf pid.x.do-pid-calcs   servo-thread
> addf pid.y.do-pid-calcs   servo-thread
> addf pid.z.do-pid-calcs   servo-thread
> addf hm2_7i43.0.write servo-thread
>
>
> #***
> #  AXIS X
> #***
> # axis enable chain
>
> setp  pid.x.Pgain [AXIS_0]P
> setp  pid.x.Igain [AXIS_0]I
> setp  pid.x.Dgain [AXIS_0]D
> setp  pid.x.bias  [AXIS_0]BIAS
> setp  pid.x.FF0   [AXIS_0]FF0
> setp  pid.x.FF1   [AXIS_0]FF1
> setp  pid.x.FF2   [AXIS_0]FF2
> setp  pid.x.deadband  [AXIS_0]DEADBAND
> setp  pid.x.maxoutput [AXIS_0]MAX_OUTPUT
>
> net x-index-enable <=> pid.x.index-enable
> net x-enable => pid.x.enable
> net x-ouput => pid.x.output
> net x-pos-cmd => pid.x.command
> net x-vel-fb => pid.x.feedback-deriv
> net x-pos-fb => pid.x.feedback
>
> # Step Gen signals/setup
> setp hm2_7i43.0.stepgen.00.dirsetup[AXIS_0]DIRSETUP
> setp hm2_7i43.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
> setp hm2_7i43.0.stepgen.00.steplen [AXIS_0]STEPLEN
> setp hm2_7i43.0.stepgen.00.stepspace   [AXIS_0]STEPSPACE
> setp hm2_7i43.0.stepgen.00.position-scale  [AXIS_0]SCALE
> setp hm2_7i43.0.stepgen.00.maxaccel  [AXIS_0]STEPGEN_MAXACCEL
> setp hm2_7i43.0.stepgen.00.maxvel[AXIS_0]STEPGEN_MAXVEL
> setp hm2_7i43.0.stepgen.00.step_type  0
> setp hm2_7i43.0.stepgen.00.control-type   1
>
> # --closed loop stepper signals--
> net x-pos-cmd axis.0.motor-pos-cmd
> net x-output => hm2_7i43.0.stepgen.00.velocity-cmd
> net x-enable axis.0.amp-enable-out => hm2_7i43.0.stepgen.00.enable
>
> # ---Encoder feedback signals/setup---
> setp hm2_7i43.0.encoder.00.counter-mode 0
> setp hm2_7i43.0.encoder.00.filter 1
> setp hm2_7i43.0.encoder.00.index-invert 0
> setp hm2_7i43.0.encoder.00.index-mask 0
> setp hm2_7i43.0.encoder.00.index-mask-invert 0
> setp hm2_7i43.0.encoder.00.scale  [AXIS_0]INPUT_SCALE
>
> net x-pos-fb <= hm2_7i43.0.encoder.00.position
> net x-vel-fb <= hm2_7i43.0.encoder.00.velocity
> net x-pos-fb => axis.0.motor-pos-fb
> net x-index-enable axis.0.index-enable <=>
> hm2_7i43.0.encoder.00.index-enable net x-pos-rawcounts <=
> hm2_7i43.0.encoder.00.rawcounts
>
> # ---setup home / limit switch signals---
> net x-home-sw =>  axis.0.home-sw-in
> net x-neg-limit =>  axis.0.neg-lim-sw-in
> net x-pos-limit =>  axis.0.pos-lim-sw-in
>
>  end HAL 
>
>  INI 
> [EMC]
> MACHINE = EMCO
> DEBUG = 0
>
> [DISPLAY]
> DISPLAY = axis
> EDITOR = gedit
> PYVCP = custom_pyvcp.xml
> POSITION_OFFSET = RELATIVE
> POSITION_FEEDBACK = ACTUAL
> MAX_FEED_OVERRIDE = 2.0
> MAX_SPINDLE_OVERRIDE = 1.5
> MIN_SPINDLE_OVERRIDE = 0.50
> INTRO_GRAPHIC = linuxcnc.gif
> INTRO_TIME = 2
> PROGRAM_PREFIX = /home/tom/linuxcnc/nc_files
> INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
> POSITION_OFFSET = RELATIVE
> POSITION_FEEDBACK = ACTUAL
> DEFAULT_LINEAR_VELOCITY = 0.25
> MAX_LINEAR_VELOCITY = 1.00
> MIN_LINEAR_VELOCITY = 0.01
> DEFAULT_ANGULAR_VELOCITY = 0.25
> MAX_ANGULAR_VELOCITY = 1.00
> MIN_ANGULAR_VELOCITY = 0.01
> GEOMETRY = xyz
>
> [FILTER]
> PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
> PROGRAM_EXTENSION = .py Python Script
> png = image-to-gcode
> gif = image-to-gcode
> jpg = image-to-gcode
> py = python
>
> [TASK]
> TASK = milltask
> CYCLE_TIME = 0.010
>
> [RS274NGC]
> PARAMETER_FILE = emc.var
>
> [EMCMOT]
> EMCMOT = motmod
> COMM_TIMEOUT = 1.0
> COMM_WAIT = 0.010
> #BASE_PERIOD = 5
> SERVO_PERIOD = 100
>
> # [HOSTMOT2]
> # This is for info only - config line is in the .hal file
> # DRIVER0=hm2_7i43
> # BOARD0=7i43
> # CONFIG0="firmware=hm2/7i43/SVST2_4_7I47B.BIT num_encoders=3
> num_pwmgens=0 num_stepgens=4"
>
> [HAL]
> HALUI = halui
> HALFILE = EMCO-CL.hal
> HALFILE =

[Emc-users] steppers with encoders in closed loop

2017-06-25 Thread tom-emc

I would like to attempt to get my machine with stepper motors running in 
velocity mode with feedback from the encoders.  Below are the relevant parts of 
my Hal and Ini files for just the X-Axis.  I figured I would do one axis at a 
time.  Currently nothing happens when I try to jog the X axis except if I hold 
it long enough it gives a following error.  If I try to home it, it faults with 
a following error.  I was trying to look various parameters on Halscope, 
triggering off of axis.0.f-error but nothing appears for any of the pins I was 
monitoring.   Are there any obvious errors in the config below to start with?

-Tom

 HAL 
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD 
num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_7i43  config="firmware=hm2/7i43/SVST2_4_7I47B.BIT num_encoders=3 
num_pwmgens=0 num_stepgens=4"
loadrt pid names=pid.x,pid.y,pid.z

addf hm2_7i43.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf hm2_7i43.0.write servo-thread


#***
#  AXIS X
#***
# axis enable chain

setppid.x.Pgain [AXIS_0]P
setppid.x.Igain [AXIS_0]I
setppid.x.Dgain [AXIS_0]D
setppid.x.bias  [AXIS_0]BIAS
setppid.x.FF0   [AXIS_0]FF0
setppid.x.FF1   [AXIS_0]FF1
setppid.x.FF2   [AXIS_0]FF2
setppid.x.deadband  [AXIS_0]DEADBAND
setppid.x.maxoutput [AXIS_0]MAX_OUTPUT

net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-ouput => pid.x.output
net x-pos-cmd => pid.x.command
net x-vel-fb => pid.x.feedback-deriv
net x-pos-fb => pid.x.feedback

# Step Gen signals/setup
setp hm2_7i43.0.stepgen.00.dirsetup[AXIS_0]DIRSETUP
setp hm2_7i43.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hm2_7i43.0.stepgen.00.steplen [AXIS_0]STEPLEN
setp hm2_7i43.0.stepgen.00.stepspace   [AXIS_0]STEPSPACE
setp hm2_7i43.0.stepgen.00.position-scale  [AXIS_0]SCALE
setp hm2_7i43.0.stepgen.00.maxaccel[AXIS_0]STEPGEN_MAXACCEL
setp hm2_7i43.0.stepgen.00.maxvel  [AXIS_0]STEPGEN_MAXVEL
setp hm2_7i43.0.stepgen.00.step_type0
setp hm2_7i43.0.stepgen.00.control-type 1

# --closed loop stepper signals--
net x-pos-cmd axis.0.motor-pos-cmd
net x-output => hm2_7i43.0.stepgen.00.velocity-cmd
net x-enable axis.0.amp-enable-out => hm2_7i43.0.stepgen.00.enable

# ---Encoder feedback signals/setup---
setp hm2_7i43.0.encoder.00.counter-mode 0
setp hm2_7i43.0.encoder.00.filter 1
setp hm2_7i43.0.encoder.00.index-invert 0
setp hm2_7i43.0.encoder.00.index-mask 0
setp hm2_7i43.0.encoder.00.index-mask-invert 0
setp hm2_7i43.0.encoder.00.scale  [AXIS_0]INPUT_SCALE

net x-pos-fb <= hm2_7i43.0.encoder.00.position
net x-vel-fb <= hm2_7i43.0.encoder.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_7i43.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_7i43.0.encoder.00.rawcounts

# ---setup home / limit switch signals---
net x-home-sw =>  axis.0.home-sw-in
net x-neg-limit =>  axis.0.neg-lim-sw-in
net x-pos-limit =>  axis.0.pos-lim-sw-in

 end HAL 

 INI 
[EMC]
MACHINE = EMCO
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
PYVCP = custom_pyvcp.xml
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.0
MAX_SPINDLE_OVERRIDE = 1.5
MIN_SPINDLE_OVERRIDE = 0.50
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 2
PROGRAM_PREFIX = /home/tom/linuxcnc/nc_files
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.25
MAX_LINEAR_VELOCITY = 1.00
MIN_LINEAR_VELOCITY = 0.01
DEFAULT_ANGULAR_VELOCITY = 0.25
MAX_ANGULAR_VELOCITY = 1.00
MIN_ANGULAR_VELOCITY = 0.01
GEOMETRY = xyz

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = emc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
#BASE_PERIOD = 5
SERVO_PERIOD = 100

# [HOSTMOT2]
# This is for info only - config line is in the .hal file
# DRIVER0=hm2_7i43 
# BOARD0=7i43
# CONFIG0="firmware=hm2/7i43/SVST2_4_7I47B.BIT num_encoders=3 num_pwmgens=0 
num_stepgens=4" 

[HAL]
HALUI = halui
HALFILE = EMCO-CL.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[HALUI]
MDI_COMMAND = G53 G0 X0 Y0 Z0
MDI_COMMAND = o call

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.5
MAX_LINEAR_VELOCITY = 2
DEFAULT_ANGULAR_VELOCITY = 0.25
MAX_ANGULAR_VELOCITY = 1.0

[EMCIO]
EMCIO = io

[Emc-users] Steppers losing position

Hello!

I have a strange situation:
Stepper motor of Z axis on a cnc router is losing it's position -
doing a series of numerous holes in material will end up with various
depths of holes.

The strange part is:
1) for each time, when machine is running, it will lose position only
in one direction; if holes are getting deeper, then they only get
deeper, not the other way;
2) the direction of drift will change randomly as machine is
restarted and only then; simply running another g-code file will not
change the direction of drift;

There is Nema23 stepper motor and Gecko stepper driver.
Motor cable is checked for loose contact, step/dir signal lines are
checked for loose contact, ballscrew and linear rails are checked for
any damage to cause extra resistance in particular direction, the
clutch between motor and ballscrew is checked not to slip.

I am totally out of ideas, where to look. Has anyone ever experienced
anything like that? What puzzles me most is the consistency to
maintain direction of drift and yet randomly change, when whole
system is restarted, so any suggestions will be appreciated.

Viesturs

--
Slashdot TV.  
Video for Nerds.  Stuff that matters.
http://tv.slashdot.org/
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] Steppers losing position

If the holes are deeper doesn't it means that the motor is making more
steps and not less ?
Is it possible that you have extra steps due to noises or bad connections
PC --- BoB --- Gecko Drive ?

Alex


On Thu, Sep 4, 2014 at 5:07 PM, Viesturs Lācis viesturs.la...@gmail.com
wrote:

 Hello!

 I have a strange situation:
 Stepper motor of Z axis on a cnc router is losing it's position -
 doing a series of numerous holes in material will end up with various
 depths of holes.

 The strange part is:
 1) for each time, when machine is running, it will lose position only
 in one direction; if holes are getting deeper, then they only get
 deeper, not the other way;
 2) the direction of drift will change randomly as machine is
 restarted and only then; simply running another g-code file will not
 change the direction of drift;

 There is Nema23 stepper motor and Gecko stepper driver.
 Motor cable is checked for loose contact, step/dir signal lines are
 checked for loose contact, ballscrew and linear rails are checked for
 any damage to cause extra resistance in particular direction, the
 clutch between motor and ballscrew is checked not to slip.

 I am totally out of ideas, where to look. Has anyone ever experienced
 anything like that? What puzzles me most is the consistency to
 maintain direction of drift and yet randomly change, when whole
 system is restarted, so any suggestions will be appreciated.

 Viesturs


 --
 Slashdot TV.
 Video for Nerds.  Stuff that matters.
 http://tv.slashdot.org/
 ___
 Emc-users mailing list
 Emc-users@lists.sourceforge.net
 https://lists.sourceforge.net/lists/listinfo/emc-users

--
Slashdot TV.  
Video for Nerds.  Stuff that matters.
http://tv.slashdot.org/
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] Steppers losing position

2014-09-04 Thread Gene Heskett

On Thursday 04 September 2014 11:07:07 Viesturs Lācis did opine
And Gene did reply:
 Hello!
 
 I have a strange situation:
 Stepper motor of Z axis on a cnc router is losing it's position -
 doing a series of numerous holes in material will end up with various
 depths of holes.
 
 The strange part is:
 1) for each time, when machine is running, it will lose position only
 in one direction; if holes are getting deeper, then they only get
 deeper, not the other way;
 2) the direction of drift will change randomly as machine is
 restarted and only then; simply running another g-code file will not
 change the direction of drift;
 
 There is Nema23 stepper motor and Gecko stepper driver.
 Motor cable is checked for loose contact, step/dir signal lines are
 checked for loose contact, ballscrew and linear rails are checked for
 any damage to cause extra resistance in particular direction, the
 clutch between motor and ballscrew is checked not to slip.
 
 I am totally out of ideas, where to look. Has anyone ever experienced
 anything like that? What puzzles me most is the consistency to
 maintain direction of drift and yet randomly change, when whole
 system is restarted, so any suggestions will be appreciated.
 
 Viesturs

Can we assume you have lengthened the dirsetup and dirhold settings?

I don't have any gecko's, but this sure seems to be an ongoing problem 
with them.

From previous messages, it seems a trip to gecko for repairs fixes it, but 
a random direction fixed at machine boot?  Thats weird, and I've no clue.

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)
Genes Web page http://geneslinuxbox.net:6309/gene
US V Castleman, SCOTUS, Mar 2014 is grounds for Impeaching SCOTUS

--
Slashdot TV.  
Video for Nerds.  Stuff that matters.
http://tv.slashdot.org/
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] Steppers losing position

2014-09-04 18:16 GMT+03:00 alex chiosso achio...@gmail.com:
 If the holes are deeper doesn't it means that the motor is making more
 steps and not less ?
 Is it possible that you have extra steps due to noises or bad connections
 PC --- BoB --- Gecko Drive ?

Yes, as I said, motor is drifting in particular direction, which may
change (not always), if system is restarted, but the direction of
drift does not change, once the system is running - if it gradually
goes up, then it does so; if down, then it keeps getting deeper.

There is no BoB, step/dir signals go directly from 5i23 to Gecko.

Viesturs

--
Slashdot TV.  
Video for Nerds.  Stuff that matters.
http://tv.slashdot.org/
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] Steppers losing position

As Gene is suggesting , here
http://linuxcnc.org/index.php/english/forum/16-stepconf-wizard/27293-solved-tuning-stepper-motor-with-gecko-201-driver?start=10
is a discussion on the forum regarding problems with steps and Gecko
Drive .
A question for you ... the router is brand new (I mean that you have
finished the setup) or is a already working machine ?
This question is to understand if the machine was working fine before and
later start with the problem you are mentioning.

Alex

On Thu, Sep 4, 2014 at 5:21 PM, Gene Heskett ghesk...@wdtv.com wrote:

On Thursday 04 September 2014 11:07:07 Viesturs Lācis did opine
And Gene did reply:
Hello!

I have a strange situation:
Stepper motor of Z axis on a cnc router is losing it's position -
doing a series of numerous holes in material will end up with various
depths of holes.

The strange part is:
1) for each time, when machine is running, it will lose position only
in one direction; if holes are getting deeper, then they only get
deeper, not the other way;
2) the direction of drift will change randomly as machine is
restarted and only then; simply running another g-code file will not
change the direction of drift;

There is Nema23 stepper motor and Gecko stepper driver.
Motor cable is checked for loose contact, step/dir signal lines are
checked for loose contact, ballscrew and linear rails are checked for
any damage to cause extra resistance in particular direction, the
clutch between motor and ballscrew is checked not to slip.

I am totally out of ideas, where to look. Has anyone ever experienced
anything like that? What puzzles me most is the consistency to
maintain direction of drift and yet randomly change, when whole
system is restarted, so any suggestions will be appreciated.

Viesturs

Can we assume you have lengthened the dirsetup and dirhold settings?

I don't have any gecko's, but this sure seems to be an ongoing problem
with them.

From previous messages, it seems a trip to gecko for repairs fixes it, but
a random direction fixed at machine boot? Thats weird, and I've no clue.

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)
Genes Web page http://geneslinuxbox.net:6309/gene
US V Castleman, SCOTUS, Mar 2014 is grounds for Impeaching SCOTUS

--
Slashdot TV.
Video for Nerds. Stuff that matters.
http://tv.slashdot.org/
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] Steppers losing position

As you sad :
Yes, as I said, motor is drifting in particular direction, which may
change (not always), if system is restarted, but the direction of
drift does not change, once the system is running - if it gradually
goes up, then it does so; if down, then it keeps getting deeper.

Means that the drift in is both directions. But the axis (motor) is
always making more space than expected , isn't it ?

Alex

On Thu, Sep 4, 2014 at 5:29 PM, alex chiosso achio...@gmail.com wrote:

Alex

On Thu, Sep 4, 2014 at 5:21 PM, Gene Heskett ghesk...@wdtv.com wrote:

On Thursday 04 September 2014 11:07:07 Viesturs Lācis did opine
And Gene did reply:
Hello!

I have a strange situation:
Stepper motor of Z axis on a cnc router is losing it's position -
doing a series of numerous holes in material will end up with various
depths of holes.

Viesturs

Can we assume you have lengthened the dirsetup and dirhold settings?

I don't have any gecko's, but this sure seems to be an ongoing problem
with them.

From previous messages, it seems a trip to gecko for repairs fixes it, but
a random direction fixed at machine boot? Thats weird, and I've no clue.

--
Slashdot TV.
Video for Nerds. Stuff that matters.
http://tv.slashdot.org/
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] Steppers losing position

2014-09-04 18:29 GMT+03:00 alex chiosso achio...@gmail.com:
 A question for you ... the router is brand new (I mean that you have
 finished the setup) or is a already working machine ?

I built that machine 3 years ago.

Viesturs

--
Slashdot TV.  
Video for Nerds.  Stuff that matters.
http://tv.slashdot.org/
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] Steppers losing position

2014-09-04 18:32 GMT+03:00 alex chiosso achio...@gmail.com:

 Means that the drift in is both directions. But the axis (motor) is
 always making more space than expected , isn't it ?

Yes, drift can be in any direction, but the change of direction
happens only on system restart.

Viesturs

--
Slashdot TV.  
Video for Nerds.  Stuff that matters.
http://tv.slashdot.org/
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] Steppers losing position