Re: [Emc-users] following error only while homing
On 20 June 2017 at 03:51, wrote: > Why would I get a following error only while homing I think it is probably because you are using HOME_USE_INDEX (which will zero the encoder at the index pulse) and feeding the encoder feedback back into LinuxCNC. Now, this is perfectly normal, and with a servo / pid machine the system knows to ignore the f-error immediately after an encoder reset. What is puzzling me here is why it isn't working in this case. I think it is something to do with the fact that your system is set up for open-loop step position control but has encoder feedback. However I can't immediately see why this makes a difference. I imagine that if you press the home button again it will home Z seamlessly, and then f-error homing the next axis. -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 -- 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] following error only while homing
- Original Message - > From: "andy pugh" > To: "Enhanced Machine Controller (EMC)" > Sent: Tuesday, June 20, 2017 4:27:46 AM > Subject: Re: [Emc-users] following error only while homing > > On 20 June 2017 at 03:51, wrote: > > > Why would I get a following error only while homing > > > I think it is probably because you are using HOME_USE_INDEX (which > will > zero the encoder at the index pulse) and feeding the encoder feedback > back > into LinuxCNC. > > Now, this is perfectly normal, and with a servo / pid machine the > system > knows to ignore the f-error immediately after an encoder reset. What > is > puzzling me here is why it isn't working in this case. I think it is > something to do with the fact that your system is set up for > open-loop step > position control but has encoder feedback. However I can't > immediately see > why this makes a difference. > > I imagine that if you press the home button again it will home Z > seamlessly, and then f-error homing the next axis. > > > -- > atp Andy, I wish that were true. For some reason my analog servo machine trips up and sets a following error on an axis about 25% of the time when trying to home to index for the first time after turning on LInuxcnc. (Almost every time since it is a 4 axis machine.) But the alarm is easily cleared, and it always homes fine the 2nd try. I have never been able to figure out why, and no one else seems to have been able to replicate the problem. His problem sounds different since he says can't clear the alarm. My other machine with step/dir servos, doesn't have encoder index to home to. But it does home fine without ever setting following errors. -- 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] following error only while homing
Andy, you are correct it is related to using index. Homing works fine if I don't use index. The encoder reset makes sense as to why it CAN happen (but shouldn't be). Is this just a bug? I would try to home a second time but as Todd says, I can't clear the error. Linuxcnc shuts off when it happens and pressing on just immediately faults again. I have to exit and restart it. -Tom > On Jun 20, 2017, at 8:13 AM, Todd Zuercher wrote: > > > - Original Message - >> From: "andy pugh" >> To: "Enhanced Machine Controller (EMC)" >> Sent: Tuesday, June 20, 2017 4:27:46 AM >> Subject: Re: [Emc-users] following error only while homing >> >>> On 20 June 2017 at 03:51, wrote: >>> >>> Why would I get a following error only while homing >> >> >> I think it is probably because you are using HOME_USE_INDEX (which >> will >> zero the encoder at the index pulse) and feeding the encoder feedback >> back >> into LinuxCNC. >> >> Now, this is perfectly normal, and with a servo / pid machine the >> system >> knows to ignore the f-error immediately after an encoder reset. What >> is >> puzzling me here is why it isn't working in this case. I think it is >> something to do with the fact that your system is set up for >> open-loop step >> position control but has encoder feedback. However I can't >> immediately see >> why this makes a difference. >> >> I imagine that if you press the home button again it will home Z >> seamlessly, and then f-error homing the next axis. >> >> >> -- >> atp > > Andy, > > I wish that were true. For some reason my analog servo machine trips up and > sets a following error on an axis about 25% of the time when trying to home > to index for the first time after turning on LInuxcnc. (Almost every time > since it is a 4 axis machine.) But the alarm is easily cleared, and it > always homes fine the 2nd try. I have never been able to figure out why, and > no one else seems to have been able to replicate the problem. > > His problem sounds different since he says can't clear the alarm. > > My other machine with step/dir servos, doesn't have encoder index to home to. > But it does home fine without ever setting following errors. > > -- > 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] following error only while homing
I just checked my config on my step/dir servo machine, and it is homing to index on 2 of the axis. It is not having and problems. Maybe you have a configuration problem. Could you post a copy of your ini and hal file somewhere where we could check it over. - Original Message - From: "Tom Easterday" To: "Enhanced Machine Controller (EMC)" Sent: Tuesday, June 20, 2017 9:00:22 AM Subject: Re: [Emc-users] following error only while homing Andy, you are correct it is related to using index. Homing works fine if I don't use index. The encoder reset makes sense as to why it CAN happen (but shouldn't be). Is this just a bug? I would try to home a second time but as Todd says, I can't clear the error. Linuxcnc shuts off when it happens and pressing on just immediately faults again. I have to exit and restart it. -Tom > On Jun 20, 2017, at 8:13 AM, Todd Zuercher wrote: > > > - Original Message - >> From: "andy pugh" >> To: "Enhanced Machine Controller (EMC)" >> Sent: Tuesday, June 20, 2017 4:27:46 AM >> Subject: Re: [Emc-users] following error only while homing >> >>> On 20 June 2017 at 03:51, wrote: >>> >>> Why would I get a following error only while homing >> >> >> I think it is probably because you are using HOME_USE_INDEX (which >> will >> zero the encoder at the index pulse) and feeding the encoder feedback >> back >> into LinuxCNC. >> >> Now, this is perfectly normal, and with a servo / pid machine the >> system >> knows to ignore the f-error immediately after an encoder reset. What >> is >> puzzling me here is why it isn't working in this case. I think it is >> something to do with the fact that your system is set up for >> open-loop step >> position control but has encoder feedback. However I can't >> immediately see >> why this makes a difference. >> >> I imagine that if you press the home button again it will home Z >> seamlessly, and then f-error homing the next axis. >> >> >> -- >> atp > > Andy, > > I wish that were true. For some reason my analog servo machine trips up and > sets a following error on an axis about 25% of the time when trying to home > to index for the first time after turning on LInuxcnc. (Almost every time > since it is a 4 axis machine.) But the alarm is easily cleared, and it > always homes fine the 2nd try. I have never been able to figure out why, and > no one else seems to have been able to replicate the problem. > > His problem sounds different since he says can't clear the alarm. > > My other machine with step/dir servos, doesn't have encoder index to home to. > But it does home fine without ever setting following errors. > > -- > 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] following error only while homing
Todd, the ini and hal config were in the first post > On Jun 20, 2017, at 9:21 AM, Todd Zuercher wrote: > > I just checked my config on my step/dir servo machine, and it is homing to > index on 2 of the axis. It is not having and problems. Maybe you have a > configuration problem. > Could you post a copy of your ini and hal file somewhere where we could check > it over. > > - Original Message - > From: "Tom Easterday" > To: "Enhanced Machine Controller (EMC)" > Sent: Tuesday, June 20, 2017 9:00:22 AM > Subject: Re: [Emc-users] following error only while homing > > Andy, you are correct it is related to using index. Homing works fine if I > don't use index. The encoder reset makes sense as to why it CAN happen (but > shouldn't be). Is this just a bug? I would try to home a second time but as > Todd says, I can't clear the error. Linuxcnc shuts off when it happens and > pressing on just immediately faults again. I have to exit and restart it. > > -Tom > >> On Jun 20, 2017, at 8:13 AM, Todd Zuercher wrote: >> >> >> - Original Message - >>> From: "andy pugh" >>> To: "Enhanced Machine Controller (EMC)" >>> Sent: Tuesday, June 20, 2017 4:27:46 AM >>> Subject: Re: [Emc-users] following error only while homing >>> >>>> On 20 June 2017 at 03:51, wrote: >>>> >>>> Why would I get a following error only while homing >>> >>> >>> I think it is probably because you are using HOME_USE_INDEX (which >>> will >>> zero the encoder at the index pulse) and feeding the encoder feedback >>> back >>> into LinuxCNC. >>> >>> Now, this is perfectly normal, and with a servo / pid machine the >>> system >>> knows to ignore the f-error immediately after an encoder reset. What >>> is >>> puzzling me here is why it isn't working in this case. I think it is >>> something to do with the fact that your system is set up for >>> open-loop step >>> position control but has encoder feedback. However I can't >>> immediately see >>> why this makes a difference. >>> >>> I imagine that if you press the home button again it will home Z >>> seamlessly, and then f-error homing the next axis. >>> >>> >>> -- >>> atp >> >> Andy, >> >> I wish that were true. For some reason my analog servo machine trips up and >> sets a following error on an axis about 25% of the time when trying to home >> to index for the first time after turning on LInuxcnc. (Almost every time >> since it is a 4 axis machine.) But the alarm is easily cleared, and it >> always homes fine the 2nd try. I have never been able to figure out why, >> and no one else seems to have been able to replicate the problem. >> >> His problem sounds different since he says can't clear the alarm. >> >> My other machine with step/dir servos, doesn't have encoder index to home >> to. But it does home fine without ever setting following errors. >> >> -- >> 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 -- 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] following error only while homing
What if you set up the stepgens in velocity mode with PID (I understand that it is the better way to do hardware stepping with Mesa cards anyway.) This is how I have my step/dir servos configured (using the encoder feedback for the PID loop rather than the stepgens dummy position feedback. - Original Message - From: "Tom Easterday" To: "Enhanced Machine Controller (EMC)" Sent: Tuesday, June 20, 2017 9:49:51 AM Subject: Re: [Emc-users] following error only while homing Todd, the ini and hal config were in the first post > On Jun 20, 2017, at 9:21 AM, Todd Zuercher wrote: > > I just checked my config on my step/dir servo machine, and it is homing to > index on 2 of the axis. It is not having and problems. Maybe you have a > configuration problem. > Could you post a copy of your ini and hal file somewhere where we could check > it over. > > - Original Message - > From: "Tom Easterday" > To: "Enhanced Machine Controller (EMC)" > Sent: Tuesday, June 20, 2017 9:00:22 AM > Subject: Re: [Emc-users] following error only while homing > > Andy, you are correct it is related to using index. Homing works fine if I > don't use index. The encoder reset makes sense as to why it CAN happen (but > shouldn't be). Is this just a bug? I would try to home a second time but as > Todd says, I can't clear the error. Linuxcnc shuts off when it happens and > pressing on just immediately faults again. I have to exit and restart it. > > -Tom > >> On Jun 20, 2017, at 8:13 AM, Todd Zuercher wrote: >> >> >> - Original Message ----- >>> From: "andy pugh" >>> To: "Enhanced Machine Controller (EMC)" >>> Sent: Tuesday, June 20, 2017 4:27:46 AM >>> Subject: Re: [Emc-users] following error only while homing >>> >>>> On 20 June 2017 at 03:51, wrote: >>>> >>>> Why would I get a following error only while homing >>> >>> >>> I think it is probably because you are using HOME_USE_INDEX (which >>> will >>> zero the encoder at the index pulse) and feeding the encoder feedback >>> back >>> into LinuxCNC. >>> >>> Now, this is perfectly normal, and with a servo / pid machine the >>> system >>> knows to ignore the f-error immediately after an encoder reset. What >>> is >>> puzzling me here is why it isn't working in this case. I think it is >>> something to do with the fact that your system is set up for >>> open-loop step >>> position control but has encoder feedback. However I can't >>> immediately see >>> why this makes a difference. >>> >>> I imagine that if you press the home button again it will home Z >>> seamlessly, and then f-error homing the next axis. >>> >>> >>> -- >>> atp >> >> Andy, >> >> I wish that were true. For some reason my analog servo machine trips up and >> sets a following error on an axis about 25% of the time when trying to home >> to index for the first time after turning on LInuxcnc. (Almost every time >> since it is a 4 axis machine.) But the alarm is easily cleared, and it >> always homes fine the 2nd try. I have never been able to figure out why, >> and no one else seems to have been able to replicate the problem. >> >> His problem sounds different since he says can't clear the alarm. >> >> My other machine with step/dir servos, doesn't have encoder index to home >> to. But it does home fine without ever setting following errors. >> >> -- >> 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://
Re: [Emc-users] following error only while homing
Is there a parameter I can tweak after it happens in order to clear the fault (e.g. can I clear the ferror value) ? I can then try to home again... > On Jun 20, 2017, at 9:49 AM, Tom Easterday wrote: > > Todd, the ini and hal config were in the first post > >> On Jun 20, 2017, at 9:21 AM, Todd Zuercher wrote: >> >> I just checked my config on my step/dir servo machine, and it is homing to >> index on 2 of the axis. It is not having and problems. Maybe you have a >> configuration problem. >> Could you post a copy of your ini and hal file somewhere where we could >> check it over. >> >> - Original Message - >> From: "Tom Easterday" >> To: "Enhanced Machine Controller (EMC)" >> Sent: Tuesday, June 20, 2017 9:00:22 AM >> Subject: Re: [Emc-users] following error only while homing >> >> Andy, you are correct it is related to using index. Homing works fine if I >> don't use index. The encoder reset makes sense as to why it CAN happen (but >> shouldn't be). Is this just a bug? I would try to home a second time but >> as Todd says, I can't clear the error. Linuxcnc shuts off when it happens >> and pressing on just immediately faults again. I have to exit and restart >> it. >> >> -Tom >> >>> On Jun 20, 2017, at 8:13 AM, Todd Zuercher wrote: >>> >>> >>> - Original Message - >>>> From: "andy pugh" >>>> To: "Enhanced Machine Controller (EMC)" >>>> Sent: Tuesday, June 20, 2017 4:27:46 AM >>>> Subject: Re: [Emc-users] following error only while homing >>>> >>>>> On 20 June 2017 at 03:51, wrote: >>>>> >>>>> Why would I get a following error only while homing >>>> >>>> >>>> I think it is probably because you are using HOME_USE_INDEX (which >>>> will >>>> zero the encoder at the index pulse) and feeding the encoder feedback >>>> back >>>> into LinuxCNC. >>>> >>>> Now, this is perfectly normal, and with a servo / pid machine the >>>> system >>>> knows to ignore the f-error immediately after an encoder reset. What >>>> is >>>> puzzling me here is why it isn't working in this case. I think it is >>>> something to do with the fact that your system is set up for >>>> open-loop step >>>> position control but has encoder feedback. However I can't >>>> immediately see >>>> why this makes a difference. >>>> >>>> I imagine that if you press the home button again it will home Z >>>> seamlessly, and then f-error homing the next axis. >>>> >>>> >>>> -- >>>> atp >>> >>> Andy, >>> >>> I wish that were true. For some reason my analog servo machine trips up >>> and sets a following error on an axis about 25% of the time when trying to >>> home to index for the first time after turning on LInuxcnc. (Almost every >>> time since it is a 4 axis machine.) But the alarm is easily cleared, and >>> it always homes fine the 2nd try. I have never been able to figure out >>> why, and no one else seems to have been able to replicate the problem. >>> >>> His problem sounds different since he says can't clear the alarm. >>> >>> My other machine with step/dir servos, doesn't have encoder index to home >>> to. But it does home fine without ever setting following errors. >>> >>> -- >>> 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 vib
Re: [Emc-users] following error only while homing
Here is what my Hal file looks like for my step/dir machine with encoder feedback. It has the stepgens configured for velocity mode and a PID loop (using a Mesa 5i25/7i85s). # Generated by PNCconf at Tue Jul 9 15:53:16 2013 # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt trivkins loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES #loadrt probe_parport loadrt hostmot2 loadrt hm2_pci config=" num_encoders=4 num_pwmgens=0 num_3pwmgens=0 num_stepgens=4 sserial_port_0=0xxx " setp hm2_5i25.0.watchdog.timeout_ns 1000 #loadrt hal_parport cfg="0x0278 in" loadrt pid names=pid.x,pid.y,pid.z #loadrt abs names= #loadrt lowpass names= #loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 #addf parport.0.read servo-thread #addf parport.0.write servo-thread addf hm2_5i25.0.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 classicladder.0.refresh servo-thread addf hm2_5i25.0.write servo-thread #addf hm2_5i25.0.pet_watchdog servo-thread #*** # AXIS X #*** 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-output => 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_5i25.0.stepgen.00.dirsetup[AXIS_0]DIRSETUP setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE setp hm2_5i25.0.stepgen.00.step_type0 setp hm2_5i25.0.stepgen.00.control-type 1 setp hm2_5i25.0.stepgen.00.maxaccel 18 setp hm2_5i25.0.stepgen.00.maxvel 12.5 # ---closedloop stepper signals--- net x-pos-cmdaxis.0.motor-pos-cmd net x-output => hm2_5i25.0.stepgen.00.velocity-cmd net x-enable axis.0.amp-enable-out => hm2_5i25.0.stepgen.00.enable # ---Encoder feedback signals/setup--- setphm2_5i25.0.encoder.00.counter-mode 0 setphm2_5i25.0.encoder.00.filter 1 setphm2_5i25.0.encoder.00.index-invert 0 setphm2_5i25.0.encoder.00.index-mask 0 setphm2_5i25.0.encoder.00.index-mask-invert 0 setphm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE net x-pos-fb <= hm2_5i25.0.encoder.00.position net x-vel-fb <= hm2_5i25.0.encoder.00.velocity net x-pos-fb => axis.0.motor-pos-fb net x-index-enableaxis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable net x-pos-rawcounts<= hm2_5i25.0.encoder.00.rawcounts # ---setup home / limit switch signals--- #net min-home-x => axis.0.home-sw-in #net min-home-x => axis.0.neg-lim-sw-in #net max-x => axis.0.pos-lim-sw-in #*** # AXIS Y #*** setp pid.y.Pgain [AXIS_1]P setp pid.y.Igain [AXIS_1]I setp pid.y.Dgain [AXIS_1]D setp pid.y.bias [AXIS_1]BIAS setp pid.y.FF0 [AXIS_1]FF0 setp pid.y.FF1 [AXIS_1]FF1 setp pid.y.FF2 [AXIS_1]FF2 setp pid.y.deadband [AXIS_1]DEADBAND setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT net y-index-enable <=> pid.y.index-enable net y-enable => pid.y.enable net y-output => pid.y.output net y-pos-cmd => pid.y.command net y-vel-fb => pid.y.feedback-deriv net y-pos-fb => pid.y.feedback # Step Gen signals/setup setp hm2_5i25.0.stepgen.01.dirsetup[AXIS_1]DIRSETUP setp hm2_5i25.0.stepgen.01.dirhold [AXIS_1]DIRHOLD setp hm2_5i25.0.stepgen.01.steplen [AXIS_1]STEPLEN setp hm2_5i25.0.stepgen.01.stepspace [AXIS_1]STEPSPACE setp hm2_5i25.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE setp hm2_5i25.0.stepgen.01.step_type0 setp hm2_5i25.0.stepgen.01.control-type 1 setp hm2_5i25.0.stepgen.01.maxaccel 18 setp hm2_5i25.0.stepgen.01.maxvel 12.5 # ---closedloop stepper signals--- net y-pos-cmdaxis.1.motor-pos-cmd net y-output => hm2_5i25.0.stepgen.01.velocity-cmd net y-enable axis.1.amp-enable-out => hm2_5i25.0.stepgen.01.enable # ---Encoder feedback signals/setup--- setphm2_5i25.0.encoder.01.counter-mode 0 setp
Re: [Emc-users] following error only while homing
Hmm, it seems like I failed miserably trying to do that when I first built the machine (this was my first build and Linuxcnc endeavor) back in 2010. I have a vague recollection someone suggested that as a method of using encoders with steppers. Seems like I spent a bunch of time flailing with getting the pid to work and ultimately gave up. Perhaps I could attempt it again...I assume it would be identical to setting up a typical servo system? > On Jun 20, 2017, at 9:59 AM, Todd Zuercher wrote: > > What if you set up the stepgens in velocity mode with PID (I understand that > it is the better way to do hardware stepping with Mesa cards anyway.) This > is how I have my step/dir servos configured (using the encoder feedback for > the PID loop rather than the stepgens dummy position feedback. > > - Original Message - > From: "Tom Easterday" > To: "Enhanced Machine Controller (EMC)" > Sent: Tuesday, June 20, 2017 9:49:51 AM > Subject: Re: [Emc-users] following error only while homing > > Todd, the ini and hal config were in the first post > >> On Jun 20, 2017, at 9:21 AM, Todd Zuercher wrote: >> >> I just checked my config on my step/dir servo machine, and it is homing to >> index on 2 of the axis. It is not having and problems. Maybe you have a >> configuration problem. >> Could you post a copy of your ini and hal file somewhere where we could >> check it over. >> >> - Original Message - >> From: "Tom Easterday" >> To: "Enhanced Machine Controller (EMC)" >> Sent: Tuesday, June 20, 2017 9:00:22 AM >> Subject: Re: [Emc-users] following error only while homing >> >> Andy, you are correct it is related to using index. Homing works fine if I >> don't use index. The encoder reset makes sense as to why it CAN happen (but >> shouldn't be). Is this just a bug? I would try to home a second time but >> as Todd says, I can't clear the error. Linuxcnc shuts off when it happens >> and pressing on just immediately faults again. I have to exit and restart >> it. >> >> -Tom >> >>> On Jun 20, 2017, at 8:13 AM, Todd Zuercher wrote: >>> >>> >>> - Original Message - >>>> From: "andy pugh" >>>> To: "Enhanced Machine Controller (EMC)" >>>> Sent: Tuesday, June 20, 2017 4:27:46 AM >>>> Subject: Re: [Emc-users] following error only while homing >>>> >>>>> On 20 June 2017 at 03:51, wrote: >>>>> >>>>> Why would I get a following error only while homing >>>> >>>> >>>> I think it is probably because you are using HOME_USE_INDEX (which >>>> will >>>> zero the encoder at the index pulse) and feeding the encoder feedback >>>> back >>>> into LinuxCNC. >>>> >>>> Now, this is perfectly normal, and with a servo / pid machine the >>>> system >>>> knows to ignore the f-error immediately after an encoder reset. What >>>> is >>>> puzzling me here is why it isn't working in this case. I think it is >>>> something to do with the fact that your system is set up for >>>> open-loop step >>>> position control but has encoder feedback. However I can't >>>> immediately see >>>> why this makes a difference. >>>> >>>> I imagine that if you press the home button again it will home Z >>>> seamlessly, and then f-error homing the next axis. >>>> >>>> >>>> -- >>>> atp >>> >>> Andy, >>> >>> I wish that were true. For some reason my analog servo machine trips up >>> and sets a following error on an axis about 25% of the time when trying to >>> home to index for the first time after turning on LInuxcnc. (Almost every >>> time since it is a 4 axis machine.) But the alarm is easily cleared, and >>> it always homes fine the 2nd try. I have never been able to figure out >>> why, and no one else seems to have been able to replicate the problem. >>> >>> His problem sounds different since he says can't clear the alarm. >>> >>> My other machine with step/dir servos, doesn't have encoder index to home >>> to. But it does home fine without ever setting following errors. >>> >>> -- >>> Check out the vibrant tech communit
Re: [Emc-users] following error only while homing
I don't see why my step/dir servo setup would be any different from a step motor + encoder config. (Obviously, PID settings would be different as they would be machine specific.) One thing to remember the PID loop will likely not be able to correct for a stalled step motor. A few missed steps should be recoverable, but if a step motor stalls, the PID loop will command faster and faster velocities, trying to catch up to where it thinks it should be, making the stall worse. - Original Message - From: "Tom Easterday" To: "Enhanced Machine Controller (EMC)" Sent: Tuesday, June 20, 2017 10:15:01 AM Subject: Re: [Emc-users] following error only while homing Hmm, it seems like I failed miserably trying to do that when I first built the machine (this was my first build and Linuxcnc endeavor) back in 2010. I have a vague recollection someone suggested that as a method of using encoders with steppers. Seems like I spent a bunch of time flailing with getting the pid to work and ultimately gave up. Perhaps I could attempt it again...I assume it would be identical to setting up a typical servo system? > On Jun 20, 2017, at 9:59 AM, Todd Zuercher wrote: > > What if you set up the stepgens in velocity mode with PID (I understand that > it is the better way to do hardware stepping with Mesa cards anyway.) This > is how I have my step/dir servos configured (using the encoder feedback for > the PID loop rather than the stepgens dummy position feedback. > > - Original Message - > From: "Tom Easterday" > To: "Enhanced Machine Controller (EMC)" > Sent: Tuesday, June 20, 2017 9:49:51 AM > Subject: Re: [Emc-users] following error only while homing > > Todd, the ini and hal config were in the first post > >> On Jun 20, 2017, at 9:21 AM, Todd Zuercher wrote: >> >> I just checked my config on my step/dir servo machine, and it is homing to >> index on 2 of the axis. It is not having and problems. Maybe you have a >> configuration problem. >> Could you post a copy of your ini and hal file somewhere where we could >> check it over. >> >> - Original Message ----- >> From: "Tom Easterday" >> To: "Enhanced Machine Controller (EMC)" >> Sent: Tuesday, June 20, 2017 9:00:22 AM >> Subject: Re: [Emc-users] following error only while homing >> >> Andy, you are correct it is related to using index. Homing works fine if I >> don't use index. The encoder reset makes sense as to why it CAN happen (but >> shouldn't be). Is this just a bug? I would try to home a second time but >> as Todd says, I can't clear the error. Linuxcnc shuts off when it happens >> and pressing on just immediately faults again. I have to exit and restart >> it. >> >> -Tom >> >>> On Jun 20, 2017, at 8:13 AM, Todd Zuercher wrote: >>> >>> >>> - Original Message - >>>> From: "andy pugh" >>>> To: "Enhanced Machine Controller (EMC)" >>>> Sent: Tuesday, June 20, 2017 4:27:46 AM >>>> Subject: Re: [Emc-users] following error only while homing >>>> >>>>> On 20 June 2017 at 03:51, wrote: >>>>> >>>>> Why would I get a following error only while homing >>>> >>>> >>>> I think it is probably because you are using HOME_USE_INDEX (which >>>> will >>>> zero the encoder at the index pulse) and feeding the encoder feedback >>>> back >>>> into LinuxCNC. >>>> >>>> Now, this is perfectly normal, and with a servo / pid machine the >>>> system >>>> knows to ignore the f-error immediately after an encoder reset. What >>>> is >>>> puzzling me here is why it isn't working in this case. I think it is >>>> something to do with the fact that your system is set up for >>>> open-loop step >>>> position control but has encoder feedback. However I can't >>>> immediately see >>>> why this makes a difference. >>>> >>>> I imagine that if you press the home button again it will home Z >>>> seamlessly, and then f-error homing the next axis. >>>> >>>> >>>> -- >>>> atp >>> >>> Andy, >>> >>> I wish that were true. For some reason my analog servo machine trips up >>> and sets a following error on an axis about 25% of the time when trying to >>> home to index for the first time after turning on LInuxcnc. (Almost every >>> tim
Re: [Emc-users] following error only while homing
On Tue, Jun 20, 2017 at 09:27:46AM +0100, andy pugh wrote: > > Now, this is perfectly normal, and with a servo / pid machine the system > knows to ignore the f-error immediately after an encoder reset. What is > puzzling me here is why it isn't working in this case. I think it is pid's index-enables need to be added to the index-enable nets. -- 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] following error only while homing
On 20 June 2017 at 15:52, Chris Radek wrote: > > Now, this is perfectly normal, and with a servo / pid machine the system > > knows to ignore the f-error immediately after an encoder reset. What is > > puzzling me here is why it isn't working in this case. I think it is > > pid's index-enables need to be added to the index-enable nets. Yes, but, there is no PID here. -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 -- 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] following error only while homing
On 06/20/2017 08:52 AM, Chris Radek wrote: On Tue, Jun 20, 2017 at 09:27:46AM +0100, andy pugh wrote: Now, this is perfectly normal, and with a servo / pid machine the system knows to ignore the f-error immediately after an encoder reset. What is puzzling me here is why it isn't working in this case. I think it is pid's index-enables need to be added to the index-enable nets. Tom has no pids in this config, he's using position-mode steppers with encoders. That's the same setup I use on the shopbot at the local hackspace, and it homes fine. I don't see anything obviously wrong with Tom's config. -- Sebastian Kuzminsky -- 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] following error only while homing
On 06/20/2017 03:27 AM, andy pugh wrote: On 20 June 2017 at 03:51, wrote: Why would I get a following error only while homing I think it is probably because you are using HOME_USE_INDEX (which will zero the encoder at the index pulse) and feeding the encoder feedback back into LinuxCNC. Now, this is perfectly normal, and with a servo / pid machine the system knows to ignore the f-error immediately after an encoder reset. What is puzzling me here is why it isn't working in this case. I think it is something to do with the fact that your system is set up for open-loop step position control but has encoder feedback. However I can't immediately see why this makes a difference. I think I have an idea. If the jump in position is all accomplished in one servo cycle, then the jump is handled by the logic you describe. If the jump is spread over a few servo cycles or delayed by even one cycle, it will certainly cause a following error. The key is that Tom reports setting MIN_FERROR to 1 doesn't suppress the error. That means the position jump is not occurring during the same servo cycle where the index pulse is seen. Is the encoder feeding ANYTHING else than LinuxCNC through a simple interface? Some external motion controller or drive in the path between encoder and LinuxCNC could introduce a delay. I imagine that if you press the home button again it will home Z seamlessly, and then f-error homing the next axis. Yes, since the first home operation should zero the encoder counter at the index position, re-doing the home should cause a minimal shift in the position. Jon -- 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] following error only while homing
On 06/20/2017 07:13 AM, Todd Zuercher wrote: I wish that were true. For some reason my analog servo machine trips up and sets a following error on an axis about 25% of the time when trying to home to index for the first time after turning on LInuxcnc. (Almost every time since it is a 4 axis machine.) But the alarm is easily cleared, and it always homes fine the 2nd try. I have never been able to figure out why, and no one else seems to have been able to replicate the problem. You should be able to track signals such as encoder position and INDEX_ENABLE with Halscope and capture the events when this happens. Homing does cause a discontinuity in the PID, which is only masked on following error and P. The PID output gets a bit of a bump due to the D term. Since it is usually moving quite slowly during the final home to index move, that shouldn't be enough to trip errors. You could try lowing the final move and see if that helps. I occasionally get a servo amp fault just as the index is detected for this reason. Pretty rare, so I have ignored it. Jon -- 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] following error only while homing
On 06/20/2017 08:00 AM, Tom Easterday wrote: Andy, you are correct it is related to using index. Homing works fine if I don't use index. The encoder reset makes sense as to why it CAN happen (but shouldn't be). Is this just a bug? I would try to home a second time but as Todd says, I can't clear the error. Linuxcnc shuts off when it happens and pressing on just immediately faults again. I have to exit and restart it. I think you may need to scope this out with Halscope, looking at encoder velocity, ENCODER_INDEX_ENABLE and PID, and trigger the trace on amp_enable. There seem to be two problems here. One is, it should not be tripping a following error. Second, it should not get in a state that requires restarting. Have you tried going to E-stop (F1) and then F2? Going all the way to E-stop really should clear all conditions like that. I'm thinking there may be something wrong in your HAL files that is causing the state of the system to get stuck. Jon -- 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] following error only while homing
On 06/20/2017 09:03 AM, Tom Easterday wrote: Is there a parameter I can tweak after it happens in order to clear the fault (e.g. can I clear the ferror value) ? I can then try to home again... PID error should be recomputed every servo cycle. If PID error remains at a large value, then it means that the commanded position is not being reset to the actual position when not in machine-on state. Whenever you leave the machine-on state (following error, F2 or F1) then the commanded position should be reset to equal actual position, and that should cause PID error to become zero. Jon -- 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] following error only while homing
On 06/19/2017 08:51 PM, tom-...@bgp.nu wrote: Why would I get a following error only while homing (latest Linuxcnc 2.7.9)? I recently added home switches to my machine. My machine has encoders on the steppers on each of the 3 axes so I want to use the index pulse for home. I set up the homing sequence each axis and when I do "Home All" I get a following error on my Z axis (first one to home). I played with all the settings and can’t get it to complete unless I set ferror and min_ferror very high Also, once there is a following error I can only clear it by exiting Linuxcnc and restarting it. If I just turn it back on, it immediately faults again with the same following error. If I don’t home, after restarting Linuxcnc, I can run the Z axis (and X and Y) all day at any speed without a following error. I have tried setting the ferror and min_ferror settings to various reasonable values but it didn’t work. Before adding the switches I had error=0.001 and min_ferror=0.0005 and never had a following error appear. I set ferror to 2 and min_ferror to 1 (I think those were the values) and it worked but then got the following error on the Y axis (the second axis homed). The values for ferror and min_ferror that “worked” seem completely unreasonable given I am not even moving anywhere near my max velocity during homing. I have tried changing the sign on the HOME_LATCH_VEL to make it search for index in the other direction but the same thing happens. Below are my (current) machine hal and ini. Your ini and hal file look right, except that in the hal file all stepgens get their .maxvel and .maxaccel from [AXIS_0]. But all your [AXIS_*]MAXVEL and MAXACCEL have the same value, so it doesn't affect behavior in any way. I agree with Jon Elson, the next step in debugging this should be to get a halscope trace of Z homing and f-erroring, while looking at these pins: hm2_7i43.0.stepgen.02.position-cmd hm2_7i43.0.encoder.02.position hm2_7i43.0.encoder.02.index-enable axis.2.home-sw-in Trigger on rising signal on axis.2.f-errored. -- Sebastian Kuzminsky -- 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] following error only while homing
On 06/20/2017 09:52 AM, Chris Radek wrote: On Tue, Jun 20, 2017 at 09:27:46AM +0100, andy pugh wrote: Now, this is perfectly normal, and with a servo / pid machine the system knows to ignore the f-error immediately after an encoder reset. What is puzzling me here is why it isn't working in this case. I think it is pid's index-enables need to be added to the index-enable nets. Well, that certainly will do it! To explain, index-enable is a very funny signal, unlike almost anything else in HAL. On both the encoder and joint, these are bi-directional pins. When homing or preparing to synch to the spindle, the scheme is as follows: joint sets index-enable to 1 encoder sees index-enable as 1 and enables the encoder counter to be zeroed when the index pulse is detected the encoder component also clears index-enable on that servo cycle joint detects index-enable has been cleared, and ends the homing cycle. So, it is obvious PID also needs to know that on a particular servo cycle, the encoder position has made a jump, but should not report an error or produce a large PID output based on that. This suppresses errors, but ONLY for one servo cycle. Jon -- 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] following error only while homing
On Tuesday 20 June 2017 10:03:42 Tom Easterday wrote: > Is there a parameter I can tweak after it happens in order to clear > the fault (e.g. can I clear the ferror value) ? I can then try to > home again... > I've no clue if this would apply to your case or not, Tom. The mpja dial encoders I use for jogging in lieu of manual cranks on this new to me Sheldon lathe, are inputting thru a std mesa card encoder, and when the jog timeout is finished, 5 seconds after the last "click", I found it was needed to hold the encoder on the mesa card in reset, so the next time I push the button, to adjust the per step movement or to use it as a jog wheel at the last gain setting, the motion induced effectively starts at zero = whereever the dial was at when I enabled it. If I want to make a calibrated motion, I set the dial to zero before I push the button to enable it, then I can just dial in the motion I need. Wait for the 5 second timeout and touch it off at the new position. But I don't think this is a solution to your problem. In your case, since zeroing the encoder would move the machine, I believe I would AND the home switch input with the index before I sent the home switch signal to the motion modules input. And because the index is relatively narrow, a slower search velocity might be needed. That way, motion would be snapshoting the encoders status at the index, not on the home switch, but on the next index pulse after the home switch activated. It seems to me that would get rid of a following error. Be sure you debounce the home switch just enough for consistency. And that the home switch is far enough away from any mechanical travel stops by a full turn of the motor, and is setup that the potentially full turn of the screw, the extra travel needed to find the index, will not damage the home switch. And of course advise the list if this latter idea solves the problem. This advice comes with no warranty of course. :) > > On Jun 20, 2017, at 9:49 AM, Tom Easterday wrote: > > > > Todd, the ini and hal config were in the first post > > > >> On Jun 20, 2017, at 9:21 AM, Todd Zuercher > >> wrote: > >> > >> I just checked my config on my step/dir servo machine, and it is > >> homing to index on 2 of the axis. It is not having and problems. > >> Maybe you have a configuration problem. Could you post a copy of > >> your ini and hal file somewhere where we could check it over. > >> > >> - Original Message - > >> From: "Tom Easterday" > >> To: "Enhanced Machine Controller (EMC)" > >> Sent: Tuesday, June 20, 2017 > >> 9:00:22 AM > >> Subject: Re: [Emc-users] following error only while homing > >> > >> Andy, you are correct it is related to using index. Homing works > >> fine if I don't use index. The encoder reset makes sense as to why > >> it CAN happen (but shouldn't be). Is this just a bug? I would try > >> to home a second time but as Todd says, I can't clear the error. > >> Linuxcnc shuts off when it happens and pressing on just immediately > >> faults again. I have to exit and restart it. > >> > >> -Tom > >> > >>> On Jun 20, 2017, at 8:13 AM, Todd Zuercher > >>> wrote: > >>> > >>> > >>> - Original Message - > >>> > >>>> From: "andy pugh" > >>>> To: "Enhanced Machine Controller (EMC)" > >>>> Sent: Tuesday, June 20, 2017 > >>>> 4:27:46 AM > >>>> Subject: Re: [Emc-users] following error only while homing > >>>> > >>>>> On 20 June 2017 at 03:51, wrote: > >>>>> > >>>>> Why would I get a following error only while homing > >>>> > >>>> I think it is probably because you are using HOME_USE_INDEX > >>>> (which will > >>>> zero the encoder at the index pulse) and feeding the encoder > >>>> feedback back > >>>> into LinuxCNC. > >>>> > >>>> Now, this is perfectly normal, and with a servo / pid machine the > >>>> system > >>>> knows to ignore the f-error immediately after an encoder reset. > >>>> What is > >>>> puzzling me here is why it isn't working in this case. I think it > >>>> is something to do with the fact that your system is set up for > >>>> open-loop step > >>>> position control but has encoder feedback. However I can't > >>>> immediately see > >>>> why
Re: [Emc-users] following error only while homing
On Mon, 19 Jun 2017, tom-...@bgp.nu wrote: Date: Mon, 19 Jun 2017 22:51:59 -0400 From: tom-...@bgp.nu Reply-To: "Enhanced Machine Controller (EMC)" To: "Enhanced Machine Controller (EMC)" Subject: [Emc-users] following error only while homing Why would I get a following error only while homing (latest Linuxcnc 2.7.9)? I recently added home switches to my machine. My machine has encoders on the steppers on each of the 3 axes so I want to use the index pulse for home. I set up the homing sequence each axis and when I do "Home All" I get a following error on my Z axis (first one to home). I played with all the settings and can??t get it to complete unless I set ferror and min_ferror very high Also, once there is a following error I can only clear it by exiting Linuxcnc and restarting it. If I just turn it back on, it immediately faults again with the same following error. If I don??t home, after restarting Linuxcnc, I can run the Z axis (and X and Y) all day at any speed without a following error. I have tried setting the ferror and min_ferror settings to various reasonable values but it didn??t work. Before adding the switches I had error=0.001 and min_ferror=0.0005 and never had a following error appear. I set ferror to 2 and min_ferror to 1 (I think those were the values) and it worked but then got the following error on the Y axis (the second axis homed). The values for ferror and min_ferror that ??worked?? seem completely unreasonable given I am not even moving anywhere near my max velocity during homing. I have tried changing the sign on the HOME_LATCH_VEL to make it search for index in the other direction but the same thing happens. Below are my (current) machine hal and ini. -Tom I suspect this cannot work the way you have this setup because of the instantaneous jump in encoder (feedback) position at index (and cooresponding jump in commanded position) cannot be followed by the stepgen in position mode. It only happens once because index will not cause a feedback position jump a second time since its already at 0 One way to make this work is do as others have siggested and run the stepgen in velocity mode and run a standard servo velocity PID loop This has the advantage the you are actually using the encoder feedback for control rather than just monitoring following error Peter Wallace -- 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] following error only while homing
On 20 June 2017 at 17:37, Peter C. Wallace wrote: > I suspect this cannot work the way you have this setup because of the > instantaneous jump in encoder (feedback) position at index I wonder if the answer might be to only connect the encoder once homed? ie, use a mux2 to to connect motor-pos-fb to motor-pos-cmd until homed, and only then switch it to the encoder. -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 -- 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] following error only while homing
On 06/20/2017 10:51 AM, andy pugh wrote: On 20 June 2017 at 17:37, Peter C. Wallace wrote: I suspect this cannot work the way you have this setup because of the instantaneous jump in encoder (feedback) position at index He has hooked up axis.*.motor-pos-cmd to the stepgens' .position-cmd, and motor-pos-cmd does not jump on home. His stepgens will see a smooth curve on their .position-cmd inputs even through all stages of homing. axis.*.joint-pos-cmd includes the homing offset (and a bunch of other offsets), so it has that discontinuity, so it's good he's not using that. I wonder if the answer might be to only connect the encoder once homed? ie, use a mux2 to to connect motor-pos-fb to motor-pos-cmd until homed, and only then switch it to the encoder. That should not be needed. Our shopbot has a similar setup, and it homes fine every time. It has a Mesa FPGA, position-mode steppers, and encoder position feedback. It homes to switches, but not to index. The ini settings for all joints are of this form: HOME = 0.000 HOME_OFFSET = -0.260 HOME_SEARCH_VEL = -2.0 HOME_LATCH_VEL = 0.250 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_IS_SHARED = 0 The HAL wiring looks like this: net x-encoder-pos <= hm2_5i23.0.encoder.01.position net x-encoder-pos => axis.0.motor-pos-fb net x-pos-cmd <= axis.0.motor-pos-cmd net x-pos-cmd => hm2_5i23.0.stepgen.01.position-cmd Pretty straight forward. I still want to see the halscope trace. It might be worth trying (just for debugging purposes) homing to the home switch, not the index, since that's the config that works for me. If home-to-index is broken we should fix it, and doing that test will help tell us if that's the case. I have a vague memory that there's a fairly long pause at some stage in the homing state machine. I wonder if it was during index homing? And if so, if that's maybe related to this problem? A halscope trace might show us. -- Sebastian Kuzminsky -- 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] following error only while homing
On 06/20/2017 11:34 AM, Sebastian Kuzminsky wrote: On 06/20/2017 10:51 AM, andy pugh wrote: On 20 June 2017 at 17:37, Peter C. Wallace wrote: I suspect this cannot work the way you have this setup because of the instantaneous jump in encoder (feedback) position at index He has hooked up axis.*.motor-pos-cmd to the stepgens' .position-cmd, and motor-pos-cmd does not jump on home. His stepgens will see a smooth curve on their .position-cmd inputs even through all stages of homing. axis.*.joint-pos-cmd includes the homing offset (and a bunch of other offsets), so it has that discontinuity, so it's good he's not using that. I wonder if the answer might be to only connect the encoder once homed? ie, use a mux2 to to connect motor-pos-fb to motor-pos-cmd until homed, and only then switch it to the encoder. That should not be needed. Our shopbot has a similar setup, and it homes fine every time. It has a Mesa FPGA, position-mode steppers, and encoder position feedback. It homes to switches, but not to index. Never mind, I misread what you guys are talking about. I think Peter and Andy are right, the encoder's feedback jumps, even though the position command does not. Home to switch, not to index, and it should work fine. -- Sebastian Kuzminsky -- 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] following error only while homing
On 06/20/2017 11:39 AM, Sebastian Kuzminsky wrote: On 06/20/2017 11:34 AM, Sebastian Kuzminsky wrote: On 06/20/2017 10:51 AM, andy pugh wrote: On 20 June 2017 at 17:37, Peter C. Wallace wrote: I suspect this cannot work the way you have this setup because of the instantaneous jump in encoder (feedback) position at index He has hooked up axis.*.motor-pos-cmd to the stepgens' .position-cmd, and motor-pos-cmd does not jump on home. His stepgens will see a smooth curve on their .position-cmd inputs even through all stages of homing. axis.*.joint-pos-cmd includes the homing offset (and a bunch of other offsets), so it has that discontinuity, so it's good he's not using that. I wonder if the answer might be to only connect the encoder once homed? ie, use a mux2 to to connect motor-pos-fb to motor-pos-cmd until homed, and only then switch it to the encoder. That should not be needed. Our shopbot has a similar setup, and it homes fine every time. It has a Mesa FPGA, position-mode steppers, and encoder position feedback. It homes to switches, but not to index. Never mind, I misread what you guys are talking about. I think Peter and Andy are right, the encoder's feedback jumps, even though the position command does not. Home to switch, not to index, and it should work fine. It looks like it'd be easy to add a ".raw-position" pin to the hostmot2 encoder. We already track .rawcount and compute .count from it, and compute .position from .count. -- Sebastian Kuzminsky -- 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] following error only while homing
On 06/20/2017 11:47 AM, Sebastian Kuzminsky wrote: On 06/20/2017 11:39 AM, Sebastian Kuzminsky wrote: On 06/20/2017 11:34 AM, Sebastian Kuzminsky wrote: On 06/20/2017 10:51 AM, andy pugh wrote: On 20 June 2017 at 17:37, Peter C. Wallace wrote: I suspect this cannot work the way you have this setup because of the instantaneous jump in encoder (feedback) position at index He has hooked up axis.*.motor-pos-cmd to the stepgens' .position-cmd, and motor-pos-cmd does not jump on home. His stepgens will see a smooth curve on their .position-cmd inputs even through all stages of homing. axis.*.joint-pos-cmd includes the homing offset (and a bunch of other offsets), so it has that discontinuity, so it's good he's not using that. I wonder if the answer might be to only connect the encoder once homed? ie, use a mux2 to to connect motor-pos-fb to motor-pos-cmd until homed, and only then switch it to the encoder. That should not be needed. Our shopbot has a similar setup, and it homes fine every time. It has a Mesa FPGA, position-mode steppers, and encoder position feedback. It homes to switches, but not to index. Never mind, I misread what you guys are talking about. I think Peter and Andy are right, the encoder's feedback jumps, even though the position command does not. Home to switch, not to index, and it should work fine. It looks like it'd be easy to add a ".raw-position" pin to the hostmot2 encoder. We already track .rawcount and compute .count from it, and compute .position from .count. I just pushed a totally untested experimental branch named "2.7-hm2-encoder-raw-position", try building that, keep home-to-index, link the new .raw-position pin to axis.*.motor-pos-fb and let us know how that works. -- Sebastian Kuzminsky -- 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] following error only while homing
On 20 June 2017 at 18:47, Sebastian Kuzminsky wrote: > It looks like it'd be easy to add a ".raw-position" pin to the hostmot2 > encoder. We already track .rawcount and compute .count from it, and > compute .position from .count. If that is the answer then rawcounts * scale => feedback might be the answer. With annoying type-conversions. -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 -- 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] following error only while homing
On 20 June 2017 at 18:47, Sebastian Kuzminsky wrote: > It looks like it'd be easy to add a ".raw-position" pin to the hostmot2 > encoder. Does homing use the accumulated counts in the counter after index as part of the homing offset? It feels like it should. If it does, then this might not work. -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 -- 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] following error only while homing
You guys are prolific, and I appreciate it! Thanks for all the input. A few things in case it hasn’t been clear... 1) I don’t (currently) have a PID involved at all (position-mode steppers with encoders only). 2) If I set FERROR=2 and MIN_FERROR=1, homing DOES complete successfully. 2) Pressing estop after the following error, and then trying to turn Linuxcnc back on from there does NOT help, the error persists. Only exiting and restarting Linuxcnc clears it. The Halscope trace of: hm2_7i43.0.stepgen.02.position-cmd, hm2_7i43.0.encoder.02.position, hm2_7i43.0.encoder.02.index-enable, axis.2.home-sw-in with trigger of axis.2.f-errored can be seen here: http://bgp.nu/~tom/pub/enc2.png I’m happy to help debug a (even obscure) bug if you want, but it sounds like I’d be better off using velocity mode and PID ANYWAY, and so should probably do that instead of what I have. To wit... > On Jun 20, 2017, at 2:04 PM, Sebastian Kuzminsky wrote: > I just pushed a totally untested experimental branch named > "2.7-hm2-encoder-raw-position", try building that, keep home-to-index, link > the new .raw-position pin to axis.*.motor-pos-fb and let us know how that > works. If you DO want me to test this, please remind me how I go about getting/building/running it. It has been a while since I have grabbed branches. This machine runs from the standard release model, so I assume I will need to incant git (all of which I tend to forget within a week of using it for some reason)… -Tom > On Jun 20, 2017, at 2:19 PM, andy pugh wrote: > > On 20 June 2017 at 18:47, Sebastian Kuzminsky wrote: > >> It looks like it'd be easy to add a ".raw-position" pin to the hostmot2 >> encoder. > > > Does homing use the accumulated counts in the counter after index as part > of the homing offset? It feels like it should. > If it does, then this might not work. > > > -- > atp > "A motorcycle is a bicycle with a pandemonium attachment and is designed > for the especial use of mechanical geniuses, daredevils and lunatics." > — George Fitch, Atlanta Constitution Newspaper, 1916 > -- > 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] following error only while homing
What is strange is that pressing Machine (F2) does not clear the alarm. (That won't close the alarm notification window, you have to click the X on that window to make it go away.) - Original Message - From: tom-...@bgp.nu To: "Enhanced Machine Controller (EMC)" Sent: Tuesday, June 20, 2017 3:31:42 PM Subject: Re: [Emc-users] following error only while homing You guys are prolific, and I appreciate it! Thanks for all the input. A few things in case it hasn’t been clear... 1) I don’t (currently) have a PID involved at all (position-mode steppers with encoders only). 2) If I set FERROR=2 and MIN_FERROR=1, homing DOES complete successfully. 2) Pressing estop after the following error, and then trying to turn Linuxcnc back on from there does NOT help, the error persists. Only exiting and restarting Linuxcnc clears it. The Halscope trace of: hm2_7i43.0.stepgen.02.position-cmd, hm2_7i43.0.encoder.02.position, hm2_7i43.0.encoder.02.index-enable, axis.2.home-sw-in with trigger of axis.2.f-errored can be seen here: http://bgp.nu/~tom/pub/enc2.png I’m happy to help debug a (even obscure) bug if you want, but it sounds like I’d be better off using velocity mode and PID ANYWAY, and so should probably do that instead of what I have. To wit... > On Jun 20, 2017, at 2:04 PM, Sebastian Kuzminsky wrote: > I just pushed a totally untested experimental branch named > "2.7-hm2-encoder-raw-position", try building that, keep home-to-index, link > the new .raw-position pin to axis.*.motor-pos-fb and let us know how that > works. If you DO want me to test this, please remind me how I go about getting/building/running it. It has been a while since I have grabbed branches. This machine runs from the standard release model, so I assume I will need to incant git (all of which I tend to forget within a week of using it for some reason)… -Tom > On Jun 20, 2017, at 2:19 PM, andy pugh wrote: > > On 20 June 2017 at 18:47, Sebastian Kuzminsky wrote: > >> It looks like it'd be easy to add a ".raw-position" pin to the hostmot2 >> encoder. > > > Does homing use the accumulated counts in the counter after index as part > of the homing offset? It feels like it should. > If it does, then this might not work. > > > -- > atp > "A motorcycle is a bicycle with a pandemonium attachment and is designed > for the especial use of mechanical geniuses, daredevils and lunatics." > — George Fitch, Atlanta Constitution Newspaper, 1916 > -- > 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] following error only while homing
Yes, when I re-enable the machine (with or without estop first) I get another (immediate) following error. That is, I understand to make the notification itself go away I click the X, but what I am seeing is a perpetual following error when re-enabling with each new notification piling up on the lower right of Axis display. -Tom > On Jun 20, 2017, at 4:03 PM, Todd Zuercher wrote: > > What is strange is that pressing Machine (F2) does not clear the alarm. (That > won't close the alarm notification window, you have to click the X on that > window to make it go away.) > > - Original Message - > From: tom-...@bgp.nu > To: "Enhanced Machine Controller (EMC)" > Sent: Tuesday, June 20, 2017 3:31:42 PM > Subject: Re: [Emc-users] following error only while homing > > You guys are prolific, and I appreciate it! Thanks for all the input. > > A few things in case it hasn’t been clear... > > 1) I don’t (currently) have a PID involved at all (position-mode steppers > with encoders only). > 2) If I set FERROR=2 and MIN_FERROR=1, homing DOES complete successfully. > 2) Pressing estop after the following error, and then trying to turn Linuxcnc > back on from there does NOT help, the error persists. Only exiting and > restarting Linuxcnc clears it. > > The Halscope trace of: hm2_7i43.0.stepgen.02.position-cmd, > hm2_7i43.0.encoder.02.position, hm2_7i43.0.encoder.02.index-enable, > axis.2.home-sw-in with trigger of axis.2.f-errored can be seen here: > http://bgp.nu/~tom/pub/enc2.png > > I’m happy to help debug a (even obscure) bug if you want, but it sounds like > I’d be better off using velocity mode and PID ANYWAY, and so should probably > do that instead of what I have. To wit... > >> On Jun 20, 2017, at 2:04 PM, Sebastian Kuzminsky wrote: >> I just pushed a totally untested experimental branch named >> "2.7-hm2-encoder-raw-position", try building that, keep home-to-index, link >> the new .raw-position pin to axis.*.motor-pos-fb and let us know how that >> works. > > If you DO want me to test this, please remind me how I go about > getting/building/running it. It has been a while since I have grabbed > branches. This machine runs from the standard release model, so I assume I > will need to incant git (all of which I tend to forget within a week of using > it for some reason)… > > -Tom > > >> On Jun 20, 2017, at 2:19 PM, andy pugh wrote: >> >> On 20 June 2017 at 18:47, Sebastian Kuzminsky wrote: >> >>> It looks like it'd be easy to add a ".raw-position" pin to the hostmot2 >>> encoder. >> >> >> Does homing use the accumulated counts in the counter after index as part >> of the homing offset? It feels like it should. >> If it does, then this might not work. >> >> >> -- >> atp >> "A motorcycle is a bicycle with a pandemonium attachment and is designed >> for the especial use of mechanical geniuses, daredevils and lunatics." >> — George Fitch, Atlanta Constitution Newspaper, 1916 >> -- >> 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 -- 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] following error only while homing
On 06/20/2017 01:31 PM, tom-...@bgp.nu wrote: The Halscope trace of: hm2_7i43.0.stepgen.02.position-cmd, hm2_7i43.0.encoder.02.position, hm2_7i43.0.encoder.02.index-enable, axis.2.home-sw-in with trigger of axis.2.f-errored can be seen here: http://bgp.nu/~tom/pub/enc2.png Wel that looks fine. And my reading of the homing code tells me the theory i had (about the jump in the encoder position) is wrong. I now think it's perfectly normal for the .motor-pos-fb pin to jump during homing, and the homing logic in Motion compensates for it by changing the internal home offset at the same time. Can you show us a plot like that one, but with axis.2.f-error instead of .f-errored, add the axis.2.joint-pos-cmd, .joint-pos-fb, and .motor-offset pins, and then zoom in on the f-error event? Also increase the gain so we can see the fine detail on all the position-releated pins (both cmd and fb). Thanks... -- Sebastian Kuzminsky -- 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] following error only while homing
On 20 June 2017 at 22:34, Sebastian Kuzminsky wrote: > Also increase the gain so we can see the fine detail on all the > position-releated pins (both cmd and fb). I was going to suggest saving the data as a .log file from Halscope, so that people can zoom and inspect for themselves, but I can't figure out how to open a data file. -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 -- 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] following error only while homing
Is this what you want…? http://bgp.nu/~tom/pub/enc-5.png And the log file is... http://bgp.nu/~tom/pub/enc-5.log -Tom > On Jun 20, 2017, at 5:34 PM, Sebastian Kuzminsky wrote: > > On 06/20/2017 01:31 PM, tom-...@bgp.nu wrote: >> The Halscope trace of: hm2_7i43.0.stepgen.02.position-cmd, >> hm2_7i43.0.encoder.02.position, hm2_7i43.0.encoder.02.index-enable, >> axis.2.home-sw-in with trigger of axis.2.f-errored can be seen here: >> http://bgp.nu/~tom/pub/enc2.png > > Wel that looks fine. And my reading of the homing code tells me the > theory i had (about the jump in the encoder position) is wrong. I now think > it's perfectly normal for the .motor-pos-fb pin to jump during homing, and > the homing logic in Motion compensates for it by changing the internal home > offset at the same time. > > Can you show us a plot like that one, but with axis.2.f-error instead of > .f-errored, add the axis.2.joint-pos-cmd, .joint-pos-fb, and .motor-offset > pins, and then zoom in on the f-error event? > > Also increase the gain so we can see the fine detail on all the > position-releated pins (both cmd and fb). > > Thanks... > > > -- > Sebastian Kuzminsky > > -- > 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] following error only while homing
Here is more zoom fwiw…. http://bgp.nu/~tom/pub/enc-6.png -Tom -- 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] following error only while homing
On Tue, 20 Jun 2017, tom-...@bgp.nu wrote:
Date: Tue, 20 Jun 2017 19:52:13 -0400
From: tom-...@bgp.nu
Reply-To: "Enhanced Machine Controller (EMC)"
To: "Enhanced Machine Controller (EMC)"
Subject: Re: [Emc-users] following error only while homing
Here is more zoom fwiw??. http://bgp.nu/~tom/pub/enc-6.png
-Tom
This looks like it has been homed before (no large step in encoder position at
index)
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] following error only while homing
Well, it has been homed and is searching for index when it faults with the following errorbut it isn't homed as I have just killed and restarted Linuxcnc. I then move the Z axis down a little bit and then Home All... -Tom > On Jun 20, 2017, at 7:54 PM, Peter C. Wallace wrote: > > This looks like it has been homed before (no large step in encoder position > at index) > Peter Wallace -- 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] following error only while homing
So is that large jump in f-error caused by the difference between axis.2.joint-pos-cmd and axis.2.joint-pos-fb? There is a small 90 degree step in pos-cmd that is not mirrored in pos-fb near the end, in line with the spike of f-error. Is that the cause and why is that there? -Tom > On Jun 20, 2017, at 8:54 PM, Tom Easterday wrote: > > Well, it has been homed and is searching for index when it faults with the > following errorbut it isn't homed as I have just killed and restarted > Linuxcnc. I then move the Z axis down a little bit and then Home All... > -Tom > >> On Jun 20, 2017, at 7:54 PM, Peter C. Wallace wrote: >> >> This looks like it has been homed before (no large step in encoder position >> at index) >> Peter Wallace > > > -- > 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] following error only while homing
On Wed, 21 Jun 2017, Tom Easterday wrote:
Date: Wed, 21 Jun 2017 10:11:01 -0400
From: Tom Easterday
Reply-To: "Enhanced Machine Controller (EMC)"
To: "Enhanced Machine Controller (EMC)"
Subject: Re: [Emc-users] following error only while homing
So is that large jump in f-error caused by the difference between
axis.2.joint-pos-cmd and axis.2.joint-pos-fb? There is a small 90 degree
step in pos-cmd that is not mirrored in pos-fb near the end, in line with
the spike of f-error. Is that the cause and why is that there?
Yes, and this is why you cannot do homing to index with a stepgen in position
mode.
When you home to index the encoder position makes a (possibly large on first
home after startup) step change when the index is detected. The commanded position
must make a matching step. With a servo system, this does not cause a major
glitch because the commanded and feedback positions both change at once so
any move in progress just continues, in addition the PID component watches
index-enable so is able to discard the result of the derivative terms (FF1 and
D) so they dont cause a thump.
This does not work with a stepgen in postion mode because the stepgen gets a
step change in position command, that it cannot follow, this causes a large
instantaneous following error when index is detected
You can use step motors with an encoder and homing to index, but you must
setup your hal file differently, running the stepgen in velocity mode and
using a PID component to close the position loop with the feedback from the
encoder
-Tom
On Jun 20, 2017, at 8:54 PM, Tom Easterday wrote:
Well, it has been homed and is searching for index when it faults with the
following errorbut it isn't homed as I have just killed and restarted
Linuxcnc. I then move the Z axis down a little bit and then Home All...
-Tom
On Jun 20, 2017, at 7:54 PM, Peter C. Wallace wrote:
This looks like it has been homed before (no large step in encoder position at
index)
Peter Wallace
--
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
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] following error only while homing
On 06/20/2017 10:15 AM, Sebastian Kuzminsky wrote: On 06/20/2017 08:52 AM, Chris Radek wrote: On Tue, Jun 20, 2017 at 09:27:46AM +0100, andy pugh wrote: Now, this is perfectly normal, and with a servo / pid machine the system knows to ignore the f-error immediately after an encoder reset. What is puzzling me here is why it isn't working in this case. I think it is pid's index-enables need to be added to the index-enable nets. Tom has no pids in this config, he's using position-mode steppers with encoders. Where does the following error come from, then? Jon -- 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] following error only while homing
On Wed, 21 Jun 2017, Jon Elson wrote:
Date: Wed, 21 Jun 2017 11:48:17 -0500
From: Jon Elson
Reply-To: "Enhanced Machine Controller (EMC)"
To: "Enhanced Machine Controller (EMC)"
Subject: Re: [Emc-users] following error only while homing
On 06/20/2017 10:15 AM, Sebastian Kuzminsky wrote:
On 06/20/2017 08:52 AM, Chris Radek wrote:
On Tue, Jun 20, 2017 at 09:27:46AM +0100, andy pugh wrote:
Now, this is perfectly normal, and with a servo / pid machine the system
knows to ignore the f-error immediately after an encoder reset. What is
puzzling me here is why it isn't working in this case. I think it is
pid's index-enables need to be added to the index-enable nets.
Tom has no pids in this config, he's using position-mode steppers with
encoders.
Where does the following error come from, then?
Jon
A step in the FB position from the encoder and an attempt at an impossible
step in the commanded stepgen position...
All the complexities / workrounds of this position step on index could be
avoided if support for encoder counter that can only clear on index
was dropped.
--
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] following error only while homing
On 06/21/2017 12:15 PM, Peter C. Wallace wrote: A step in the FB position from the encoder and an attempt at an impossible step in the commanded stepgen position... All the complexities / workrounds of this position step on index could be avoided if support for encoder counter that can only clear on index was dropped. OK, so stepgen also can compute following error. Without encoders, it is only possible if steps can't be issued fast enough, but with encoders, then there are other ways to create a following error. Thanks, Jon -- 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] following error only while homing
On Wed, 21 Jun 2017, Jon Elson wrote:
Date: Wed, 21 Jun 2017 13:22:04 -0500
From: Jon Elson
Reply-To: "Enhanced Machine Controller (EMC)"
To: "Enhanced Machine Controller (EMC)"
Subject: Re: [Emc-users] following error only while homing
On 06/21/2017 12:15 PM, Peter C. Wallace wrote:
A step in the FB position from the encoder and an attempt at an impossible
step in the commanded stepgen position...
All the complexities / workrounds of this position step on index could be
avoided if support for encoder counter that can only clear on index was
dropped.
OK, so stepgen also can compute following error. Without encoders, it is
only possible if steps can't be issued fast enough, but with encoders, then
there are other ways to create a following error.
Thanks,
Jon
The stepgen is not computing following error it just cant be driven by a
position command with a stepwise discontinuity and move instantaneously to the
new position.
A PID run velocity mode stepgen (or normal velocity mode servo) can do this
because both its feedback (from the encoder) and the commanded position make
this position step concurrently at index detection so the PID comp just
carries on as if nothing had happened
The PID derivative terms, FF1 and maybe D are patched at index detection so
the step in command and FB doesn't cause a one servo cycle long thump
--
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] following error only while homing
On 21 June 2017 at 19:36, Peter C. Wallace wrote: > The stepgen is not computing following error it just cant be driven by a > position command with a stepwise discontinuity and move instantaneously to > the new position. I think it might be more interesting than that. Stepgen commanded position and encoder position track each other very well, and the f-error is small throughout. https://docs.google.com/spreadsheets/d/1qRVyQWFl4BIsSNKwy9IYsXrmZLTK8vgVVNX4tAuUmJM/edit?usp=sharing -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 -- 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] following error only while homing
On Thu, 22 Jun 2017, andy pugh wrote:
Date: Thu, 22 Jun 2017 00:06:42 +0100
From: andy pugh
Reply-To: "Enhanced Machine Controller (EMC)"
To: "Enhanced Machine Controller (EMC)"
Subject: Re: [Emc-users] following error only while homing
On 21 June 2017 at 19:36, Peter C. Wallace wrote:
The stepgen is not computing following error it just cant be driven by a
position command with a stepwise discontinuity and move instantaneously to
the new position.
I think it might be more interesting than that. Stepgen commanded position
and encoder position track each other very well, and the f-error is small
throughout.
https://docs.google.com/spreadsheets/d/1qRVyQWFl4BIsSNKwy9IYsXrmZLTK8vgVVNX4tAuUmJM/edit?usp=sharing
--
atp
"A motorcycle is a bicycle with a pandemonium attachment and is designed
for the especial use of mechanical geniuses, daredevils and lunatics."
?? George Fitch, Atlanta Constitution Newspaper, 1916
Only because the step was small (because it was probably not the first time
homed)
Take a look at axis.0.motor-pos-fb and axis.0.motor-pos-cmd in Sebastians test
on a servo system:
http://highlab.com/~seb/linuxcnc/homing-x-first-time.png
Notice the (probably multi-inch) jump to 0 when index is detected
A velocity mode servo system can cope with this because the PIDs command and
feedback step at the ~same time (and there are some patches to fix derivative
related problems in the PID comp when index is detected)
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] following error only while homing
I moved the Z axis down maybe 1/2" before issuing the home command, so it only needs to move a short distance to get back to the switch. -Tom > On Jun 21, 2017, at 7:19 PM, Peter C. Wallace wrote: > > Only because the step was small (because it was probably not the first time > homed) -- 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] following error only while homing
On 22 June 2017 at 00:19, Peter C. Wallace wrote: > > Only because the step was small (because it was probably not the first > time homed) Well, yes, but then the question is _why_ it is triggering the f-error again. -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 -- 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] following error only while homing
On Thu, 22 Jun 2017 00:06:42 +0100 andy pugh wrote: > On 21 June 2017 at 19:36, Peter C. Wallace wrote: > > > The stepgen is not computing following error it just cant be driven by a > > position command with a stepwise discontinuity and move instantaneously to > > the new position. > > > I think it might be more interesting than that. Stepgen commanded position > and encoder position track each other very well, and the f-error is small > throughout. > > https://docs.google.com/spreadsheets/d/1qRVyQWFl4BIsSNKwy9IYsXrmZLTK8vgVVNX4tAuUmJM/edit?usp=sharing Yes there could be a following error for stepper generator. I think it is like this, it output step frequency and number of stepped steps backs so there could be a difference. I modified stepper driver for my own card and also discovered decimal point is useful then stepping with a frequency close to servo loop. Without decimal there will be quite a lot of jitter then switching between integer number of steps and decimal point place flanks withing period. It might be step speed have been chosen to avoid jitter. -- 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] following error only while homing
Here are links to a halscope screen shot and log file for my servo machine that keeps setting following errors on first try homing. homing-error.png: https://drive.google.com/open?id=0B6U6HVQUOa1fZndtbzVRU1dpOW8 halscope-homing.log: https://drive.google.com/open?id=0B6U6HVQUOa1fbmk5S1dKaFBoWWc - Original Message - From: "Nicklas Karlsson" To: "Enhanced Machine Controller (EMC)" Sent: Thursday, June 22, 2017 1:23:29 PM Subject: Re: [Emc-users] following error only while homing On Thu, 22 Jun 2017 00:06:42 +0100 andy pugh wrote: > On 21 June 2017 at 19:36, Peter C. Wallace wrote: > > > The stepgen is not computing following error it just cant be driven by a > > position command with a stepwise discontinuity and move instantaneously to > > the new position. > > > I think it might be more interesting than that. Stepgen commanded position > and encoder position track each other very well, and the f-error is small > throughout. > > https://docs.google.com/spreadsheets/d/1qRVyQWFl4BIsSNKwy9IYsXrmZLTK8vgVVNX4tAuUmJM/edit?usp=sharing Yes there could be a following error for stepper generator. I think it is like this, it output step frequency and number of stepped steps backs so there could be a difference. I modified stepper driver for my own card and also discovered decimal point is useful then stepping with a frequency close to servo loop. Without decimal there will be quite a lot of jitter then switching between integer number of steps and decimal point place flanks withing period. It might be step speed have been chosen to avoid jitter. -- 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] following error only while homing
On Fri, 23 Jun 2017, Todd Zuercher wrote: Date: Fri, 23 Jun 2017 11:21:15 -0400 (EDT) From: Todd Zuercher Reply-To: "Enhanced Machine Controller (EMC)" To: "Enhanced Machine Controller (EMC)" Subject: Re: [Emc-users] following error only while homing Here are links to a halscope screen shot and log file for my servo machine that keeps setting following errors on first try homing. homing-error.png: https://drive.google.com/open?id=0B6U6HVQUOa1fZndtbzVRU1dpOW8 halscope-homing.log: https://drive.google.com/open?id=0B6U6HVQUOa1fbmk5S1dKaFBoWWc Because the scale of the position command is so huge its hard to tell whats going on but the ferror size matches the encoder step size at index, This (and the one cycle ferror duration) suggests that there is a thread/operation order issue of some kind in the hal file. Peter Wallace Mesa Electronics -- 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] following error only while homing
I just ran another test with the pid index-enable disconnected for that axis, and the halscope trace looks exactly the same as it does when it is connected. Is there something wrong with that pin in the pid component or is this a symptom of my ordering problem? - Original Message - From: "Todd Zuercher" To: "Enhanced Machine Controller (EMC)" Sent: Friday, June 23, 2017 1:20:26 PM Subject: Re: [Emc-users] following error only while homing That is what I've suspected but I can't figure out what I have out of place. I did another screen shot with the position-cmd zoomed in as much as I could and keep it on the screen. It seems that the index enable falls, and the encoder position is reset,then the PID gets whacked for one servo period, then the position-cmd is reset. I have the PID index-enable pin connected, but I not sure it is actually doing anything. Here are my addf orders: addf hm2_5i25.0.read base-thread addf pid.x_vel.do-pid-calcs base-thread addf pid.y_vel.do-pid-calcs base-thread addf pid.z_vel.do-pid-calcs base-thread addf pid.w_vel.do-pid-calcs base-thread addf hm2_5i25.0.write base-thread addf motion-command-handler servo-thread addf motion-controllerservo-thread addf sum2.0 servo-thread addf offset.0.update-output servo-thread addf offset.0.update-feedback servo-thread addf mux2.0 servo-thread addf mux2.1 servo-thread addf pid.x_pos.do-pid-calcs servo-thread addf pid.y_pos.do-pid-calcs servo-thread addf pid.z_pos.do-pid-calcs servo-thread addf pid.w_pos.do-pid-calcs servo-thread #addf hm2_5i25.0.pet_watchdog servo-thread addf and2.0 servo-thread - Original Message - From: "Peter C. Wallace" To: "Enhanced Machine Controller (EMC)" Sent: Friday, June 23, 2017 11:55:58 AM Subject: Re: [Emc-users] following error only while homing On Fri, 23 Jun 2017, Todd Zuercher wrote: > Date: Fri, 23 Jun 2017 11:21:15 -0400 (EDT) > From: Todd Zuercher > Reply-To: "Enhanced Machine Controller (EMC)" > > To: "Enhanced Machine Controller (EMC)" > Subject: Re: [Emc-users] following error only while homing > > Here are links to a halscope screen shot and log file for my servo machine > that keeps setting following errors on first try homing. > > homing-error.png: > https://drive.google.com/open?id=0B6U6HVQUOa1fZndtbzVRU1dpOW8 > halscope-homing.log: > https://drive.google.com/open?id=0B6U6HVQUOa1fbmk5S1dKaFBoWWc > Because the scale of the position command is so huge its hard to tell whats going on but the ferror size matches the encoder step size at index, This (and the one cycle ferror duration) suggests that there is a thread/operation order issue of some kind in the hal file. Peter Wallace Mesa Electronics -- 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] following error only while homing
On Fri, 23 Jun 2017, Todd Zuercher wrote:
Date: Fri, 23 Jun 2017 13:20:26 -0400 (EDT)
From: Todd Zuercher
Reply-To: "Enhanced Machine Controller (EMC)"
To: "Enhanced Machine Controller (EMC)"
Subject: Re: [Emc-users] following error only while homing
That is what I've suspected but I can't figure out what I have out of place.
I did another screen shot with the position-cmd zoomed in as much as I could
and keep it on the screen.
It seems that the index enable falls, and the encoder position is reset,then
the PID gets whacked for one servo period, then the position-cmd is reset.
I have the PID index-enable pin connected, but I not sure it is actually doing
anything.
Here are my addf orders:
Yeah, those are ordered wrong so LinuxCNC's patching aound the encoder step on
index fails, but I'm not sure they can be ordered correctly with your mixed
(base/servo) thread setup. A normal servo thread only config would be
something like
addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controllerservo-thread
addf pid.x_vel.do-pid-calcs servo-thread
addf pid.y_vel.do-pid-calcs servo-thread
addf pid.z_vel.do-pid-calcs servo-thread
addf pid.w_vel.do-pid-calcs servo-thread
addf sum2.0 servo-thread
addf offset.0.update-output servo-thread
addf offset.0.update-feedback servo-thread
addf mux2.0 servo-thread
addf mux2.1 servo-thread
addf pid.x_pos.do-pid-calcs servo-thread
addf pid.y_pos.do-pid-calcs servo-thread
addf pid.z_pos.do-pid-calcs servo-thread
addf pid.w_pos.do-pid-calcs servo-thread
#addf hm2_5i25.0.pet_watchdog servo-thread
addf and2.0 servo-thread
addf hm2_5i25.0.write servo-thread
- Original Message -
From: "Peter C. Wallace"
To: "Enhanced Machine Controller (EMC)"
Sent: Friday, June 23, 2017 11:55:58 AM
Subject: Re: [Emc-users] following error only while homing
On Fri, 23 Jun 2017, Todd Zuercher wrote:
Date: Fri, 23 Jun 2017 11:21:15 -0400 (EDT)
From: Todd Zuercher
Reply-To: "Enhanced Machine Controller (EMC)"
To: "Enhanced Machine Controller (EMC)"
Subject: Re: [Emc-users] following error only while homing
Here are links to a halscope screen shot and log file for my servo machine that
keeps setting following errors on first try homing.
homing-error.png: https://drive.google.com/open?id=0B6U6HVQUOa1fZndtbzVRU1dpOW8
halscope-homing.log:
https://drive.google.com/open?id=0B6U6HVQUOa1fbmk5S1dKaFBoWWc
Because the scale of the position command is so huge its hard to tell whats
going on but the ferror size matches the encoder step size at index, This (and
the one cycle ferror duration) suggests that there is a thread/operation order
issue of some kind in the hal file.
Peter Wallace
Mesa Electronics
--
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] following error only while homing
So I guess my real question is why does it work on one axis and not the next? What are the chances that switching to Master and dumping the 5 dummy axis between joints 2 and 8 might help? - Original Message - From: "Todd Zuercher" To: "Enhanced Machine Controller (EMC)" Sent: Friday, June 23, 2017 5:07:42 PM Subject: Re: [Emc-users] following error only while homing - Original Message - From: "Peter C. Wallace" To: "Enhanced Machine Controller (EMC)" Sent: Friday, June 23, 2017 2:13:45 PM Subject: Re: [Emc-users] following error only while homing > > Yeah, those are ordered wrong so LinuxCNC's patching aound the encoder step > on > index fails, but I'm not sure they can be ordered correctly with your mixed > (base/servo) thread setup. A normal servo thread only config would be > something like > Here is a halscope plot of the same pins for the Z axis (which rarely messes up), compared with the one for the W axis which almost always doesn't work. In the Z plot the motor-pos-cmd changes on the 1st servo-thread cycle after the index. But the W motor-pos-cmd change is on the next servo-thread after that, worse yet the following error for the W appears to be delayed yet another thread cycle. What's up with that? I am not getting real time delay messages on this machine either. -- 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
