[Machinekit] Help setting up a 4th axis

[Diego Molina]

Greating to all,

So I've got a lot of cuts out of my 3 axis machine running on a BBB / 
Xylotex configuration, now I added a 4th axis and am having trouble 
figuring out the values to calibrate it and make it move as expected.

I've based my config around Xylotex.ini and Xylotex.hal example configs, 
but to arrive at the actual distances on my steppers and lead screws I had 
to lower the scale to about 2. All the axes work as expected with those 
settings.

The thing is, now I've added a 4th axis with a 20-to-1 ratio worm wheel, 
and when I issue a G1 A90 F100 code (I'm assuming this is right to ask for 
1/4 turn?), for example, with the scale at 2, it gives me around 10 
turns on the axis. When I try to decrease the scale I get to 400 and it 
moves about right, but really slowly. I've tried to increase speeds after 
that but without success.

Could somebody please point me on which settings to edit, so my other axes 
still work and the 4th can move at a decent speed at the right rate?

All the best,


Diego

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[Machinekit] Re: Help setting up a 4th axis

[Diego Molina]

My ini is as follows:

#
[PRUCONF]
DRIVER=hal_pru_generic
CONFIG=pru=1 num_stepgens=5
PRUBIN=xenomai/pru_generic.bin

[EMC]

# Name of machine, for use with display, etc.
MACHINE =   Xylotex

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG =0x0003
#DEBUG =0x0007
DEBUG = 0




[DISPLAY]
#uncomment the line below if the shuttleexpress is installed
#(JP)GLADEVCP = shuttlexpress.glade
#leave the follwoing two alone

#EMBED_TAB_NAME = GladeVCP demo
#EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp 
gladevcp -c gladevcp -u shuttlexpress.py -x {XID} shuttlexpress.glade

# Name of display program, e.g., tkemc
DISPLAY = axis
#DISPLAY = gmoccapy_lcd7

#EDITOR = mousepad

# Touchy currently will not work without some hardware buttons/jog-wheel
#DISPLAY = touchy

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =0.200

# Path to help file
HELP_FILE = tklinucnc.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =   RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5

# Prefix to be used
PROGRAM_PREFIX = /home/machinekit/machinekit/nc_files

# Introductory graphic
INTRO_GRAPHIC = machinekit.gif
INTRO_TIME =2

# Increments for the JOG section
INCREMENTS = 6 1 0.5 0.1 0.05 0.01

# GEOMETRY = -ZYXA

[FILTER]

PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script

png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python


[TASK]

# Name of task controller program, e.g., milltask
TASK =  milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =0.010




[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE =pru-stepper.var
RS274NGC_STARTUP_CODE = G00 G17 G21 G40 G49 G64 P0.1 Q0.1 G80 G90

[EMCMOT]

EMCMOT =motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =  1.0

# Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010

# Servo task period, in nanoseconds
SERVO_PERIOD =  100


[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.

# list of hal config files to run through halcmd
# files are executed in the order in which they appear

HALFILE =Xylotex.hal
#(JP) uncomment the line below if the shuttlexpress jig wheel is used
#HALFILE =../../../shuttlexpress.hal

# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =   save neta
HALUI = halui
POSTGUI_HALFILE =   Xylotex.postgui.hal


[TRAJ]

AXES = 5
COORDINATES =  X Y Z A B
MAX_ANGULAR_VELOCITY = 450.00
DEFAULT_ANGULAR_VELOCITY = 90.00
LINEAR_UNITS = inch
ANGULAR_UNITS =degree
CYCLE_TIME =   0.010
DEFAULT_VELOCITY = 2.0
MAX_LINEAR_VELOCITY =  2.0
NO_FORCE_HOMING =  1


[AXIS_0]

#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesnt buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE =  LINEAR
MAX_VELOCITY =   1.0
MAX_ACCELERATION =   15.0
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =1.2
STEPGEN_MAX_ACC =18.75

BACKLASH =   0.000
# scale is 200 steps/rev * 8 mirostep * 10 tpi
# C-Beam tpi = 12.7
# if u make scale negative you invert direction of movement
# Lead Screw Diameter ∅ 8 (mm) Pitch 2 (mm) Lead 8 (mm) > (((360/1.8) * 
(1/(1/32)))/2h)*(1 / 1)
SCALE =  20392
# 16000 = 32 microsteps > if you want 1/16 microsteps > 8000 etc

MIN_LIMIT = -1100.0
MAX_LIMIT =  1100.3

FERROR = .1
MIN_FERROR = 0.05

HOME =  0.000
HOME_OFFSET =   0.00
HOME_SEARCH_VEL =   -.1
HOME_LATCH_VEL =   0.2
#HOME_USE_INDEX =YES
#HOME_IGNORE_LIMITS =YES
#HOME_IS_SHARED = 1
#HOME_SEQUENCE = 2

# these are in nanoseconds
DIRSETUP   =  200
DIRHOLD=  200
STEPLEN=  1000
STEPSPACE  =  1000

# Set to one for active low step pulses
STEP_INVERT =   0

# PID tuning params
DEADBAND =  0
P = 50
I = 0
D = 0
FF0 =   0
FF1 =   1
FF2 =0
BIAS =  0
MAX_OUTPUT =0



[AXIS_1]

Re: [Machinekit] Help setting up a 4th axis

[Bas de Bruijn]

> On 05 Jul 2016, at 10:56, Diego Molina  wrote:
> 
> 
> Greating to all,
> 
> So I've got a lot of cuts out of my 3 axis machine running on a BBB / Xylotex 
> configuration, now I added a 4th axis and am having trouble figuring out the 
> values to calibrate it and make it move as expected.
> 
> I've based my config around Xylotex.ini and Xylotex.hal example configs, but 
> to arrive at the actual distances on my steppers and lead screws I had to 
> lower the scale to about 2. All the axes work as expected with those 
> settings.
> 
> The thing is, now I've added a 4th axis with a 20-to-1 ratio worm wheel, and 
> when I issue a G1 A90 F100 code (I'm assuming this is right to ask for 1/4 
> turn?)

don’t assume, be sure instead. Have a search thru the docs on the meaning of G1 
A90 F100. Find out what units are used. 

> , for example, with the scale at 2, it gives me around 10 turns on the 
> axis. When I try to decrease the scale I get to 400 and it moves about right, 
> but really slowly. I've tried to increase speeds after that but without 
> success.

it all depends on the settings you use. Don’t upload your ini file here, but 
commit you hal and ini file to your repo and provide a link to that. We can’t 
see inside your head. read this: http://www.machinekit.io/docs/getting-help/

> 
> Could somebody please point me on which settings to edit, so my other axes 
> still work and the 4th can move at a decent speed at the right rate?

you need to do some calculating. find out 
how many steps per revolution your motor uses (200?)
do you use micro stepping, how much?
pitch of your leadscrew
ratio of your worm (1:20) 

then you need to know the max amount of pulses that you can put out. 
find the step length and step time for your drivers and calculate the max 
frequency. This should give you an indication of what your motors and 
electronics can physically do.

then look at the settings in your ini file for the 4th axis, and compare the 
max_velocity, mac_accelerations, stepgen_max_vel and stepgen_max_acc settings.

> 
> All the best,
> 
> 
> Diego
> 
> -- 
> website: http://www.machinekit.io  blog: 
> http://blog.machinekit.io  github: 
> https://github.com/machinekit 
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> .

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Re: [Machinekit] Help setting up a 4th axis

[Diego Molina]

On Tuesday, July 5, 2016 at 1:23:35 PM UTC+4, Bas de Bruijn wrote:
>
>
> On 05 Jul 2016, at 10:56, Diego Molina > 
> wrote:
>
>
> Greating to all,
>
> So I've got a lot of cuts out of my 3 axis machine running on a BBB / 
> Xylotex configuration, now I added a 4th axis and am having trouble 
> figuring out the values to calibrate it and make it move as expected.
>
> I've based my config around Xylotex.ini and Xylotex.hal example configs, 
> but to arrive at the actual distances on my steppers and lead screws I had 
> to lower the scale to about 2. All the axes work as expected with those 
> settings.
>
> The thing is, now I've added a 4th axis with a 20-to-1 ratio worm wheel, 
> and when I issue a G1 A90 F100 code (I'm assuming this is right to ask for 
> 1/4 turn?)
>
>
> don’t assume, be sure instead. Have a search thru the docs on the meaning 
> of G1 A90 F100. Find out what units are used. 
>

  Is it steps/degrees? You know, I just ask after a lot of searching, which 
in this case didn't result in any clarification on the matter.

>
> , for example, with the scale at 2, it gives me around 10 turns on the 
> axis. When I try to decrease the scale I get to 400 and it moves about 
> right, but really slowly. I've tried to increase speeds after that but 
> without success.
>
>
> it all depends on the settings you use. Don’t upload your ini file here, 
> but commit you hal and ini file to your repo and provide a link to that. We 
> can’t see inside your head. read this: 
> http://www.machinekit.io/docs/getting-help/
>
>
I've seen people here requesting the ini's, so I just assumed it would be 
more convenient to just put as text.


> Could somebody please point me on which settings to edit, so my other axes 
> still work and the 4th can move at a decent speed at the right rate?
>
>
> you need to do some calculating. find out 
>
>- how many steps per revolution your motor uses (200?)
>- do you use micro stepping, how much?
>- pitch of your leadscrew
>- ratio of your worm (1:20) 
>
>
> then you need to know the max amount of pulses that you can put out. 
> find the step length and step time for your drivers and calculate the max 
> frequency. This should give you an indication of what your motors and 
> electronics can physically do.
>
> then look at the settings in your ini file for the 4th axis, and compare 
> the max_velocity, mac_accelerations, stepgen_max_vel and stepgen_max_acc 
> settings.
>
> My driver is 200 steps per revolution, 6400 microstepping (pulses/rev), 
the pitch is 2mm, but how would I end up knowing the amount of pulses? Step 
length and step time are both 1500.


Thanks,

Diego

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Re: [Machinekit] Help setting up a 4th axis

[Bas de Bruijn]

> On 05 Jul 2016, at 13:27, Diego Molina  wrote:
> 
> 
> 
> On Tuesday, July 5, 2016 at 1:23:35 PM UTC+4, Bas de Bruijn wrote:
> 
>> On 05 Jul 2016, at 10:56, Diego Molina > 
>> wrote:
>> 
>> 
>> Greating to all,
>> 
>> So I've got a lot of cuts out of my 3 axis machine running on a BBB / 
>> Xylotex configuration, now I added a 4th axis and am having trouble figuring 
>> out the values to calibrate it and make it move as expected.
>> 
>> I've based my config around Xylotex.ini and Xylotex.hal example configs, but 
>> to arrive at the actual distances on my steppers and lead screws I had to 
>> lower the scale to about 2. All the axes work as expected with those 
>> settings.
>> 
>> The thing is, now I've added a 4th axis with a 20-to-1 ratio worm wheel, and 
>> when I issue a G1 A90 F100 code (I'm assuming this is right to ask for 1/4 
>> turn?)
> 
> don’t assume, be sure instead. Have a search thru the docs on the meaning of 
> G1 A90 F100. Find out what units are used. 
> 
>   Is it steps/degrees? You know, I just ask after a lot of searching, which 
> in this case didn't result in any clarification on the matter.

look at your configuration for example
https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Xylotex/Xylotex.ShuttleXpress.ini#L122

and

https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Xylotex/Xylotex.ShuttleXpress.ini#L132-L140

> 
>> , for example, with the scale at 2, it gives me around 10 turns on the 
>> axis. When I try to decrease the scale I get to 400 and it moves about 
>> right, but really slowly. I've tried to increase speeds after that but 
>> without success.
> 
> it all depends on the settings you use. Don’t upload your ini file here, but 
> commit you hal and ini file to your repo and provide a link to that. We can’t 
> see inside your head. read this: http://www.machinekit.io/docs/getting-help/ 
> 
> 
> I've seen people here requesting the ini's, so I just assumed it would be 
> more convenient to just put as text.

nope, people specifically ask to give links.

> 
>> 
>> Could somebody please point me on which settings to edit, so my other axes 
>> still work and the 4th can move at a decent speed at the right rate?
> 
> you need to do some calculating. find out 
> how many steps per revolution your motor uses (200?)
> do you use micro stepping, how much?
> pitch of your leadscrew
> ratio of your worm (1:20) 
> 
> then you need to know the max amount of pulses that you can put out. 
> find the step length and step time for your drivers and calculate the max 
> frequency. This should give you an indication of what your motors and 
> electronics can physically do.
> 
> then look at the settings in your ini file for the 4th axis, and compare the 
> max_velocity, mac_accelerations, stepgen_max_vel and stepgen_max_acc settings.
> 
> My driver is 200 steps per revolution, 6400 microstepping (pulses/rev), the 
> pitch is 2mm, but how would I end up knowing the amount of pulses? Step 
> length and step time are both 1500.

calculate them.

for each mm of movement, there need to be 6400 steps / 2 mm pitch with an extra 
ratio of your worm of i=20 so you’ll need:

(6400/2)*20 steps/mm = 64000 steps/mm

both step time and step length define your max frequency. Look at the link 
above for the example.
3 us (1500ns + 1500ns) means that your max frequency is 1 / 3us = 333.3 kHz

33 Hz devided by 64000 steps/mm means you have 5.2 mm/sec max speed. But 
your BBB is probably not set up to use this steprate. This is the physical 
limit with your settings

If you have the standard 10us task period then you’re even limited to 50kHz 
steprate. which means 5/64000 = 0.78 mm/sec
have a look to the first link in this search
https://groups.google.com/forum/#!searchin/machinekit/max$20step$20rate$20beaglebone


> 
> 
> Thanks,
> 
> Diego
> 
> -- 
> website: http://www.machinekit.io  blog: 
> http://blog.machinekit.io  github: 
> https://github.com/machinekit 
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[Machinekit] Re: XYZACkins joint 0-4? also joint following error and Homing problem in Z

[david marquart]

if you can try to use the oscilloscope function in axis to watch your limit 
switch.  I had a noise issue that I was able to catch with that.  worth 
checking out.

 

On Monday, June 6, 2016 at 3:16:10 AM UTC-5, Sag ich Dir nich wrote:
>
> i use the XYZACkins with my beaglebone black and when i start the machine 
> i am in joint mode for homing. Shouldnt it be joint 0, 1, 2 3 and 5 for X, 
> Y, Z, A and C? Why is it 0-4? also when i jog the joint 4 nothing happens 
> and sometimes the machine goes into e-stop.
>
> Does anyone know where the Machine zero has to be? I would think it is in 
> the center of both rotary axis.
>
> When homing works and i am in world mode, i can jog a and c but then when 
> i jog xyz i get joint following error.
>
> My next problem is homing the Z-Axis. The homing switch for Z is on top 
> (Z+). The head starts to go up and hits the switch (NC), then mostly it 
> goes in Latch speed down to infinity Z-. If i stop the Machine and want to 
> home Z again, the head rapids to Z- so i need to use E-stop. Then the head 
> goes up again. It is very rare that the Z homes correct. All the other axis 
> home perfectly every time. The fact that the head goes up when homing and 
> then reverse direction when hitting the switch eliminates a broken switch 
> (i guess). Also when the head reverses direction when latching and i trip 
> the switch, it pretty much ignores the switch.
>
> i hope someone can help me
>

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Re: [Machinekit] Re: Machineface - switch world/joint mode?

[Mathias Giacomuzzi]

@Schooner,

Today I tried your post to switch from joint to world mode, but that does 
not work. So I tried *halcmd setp* *halui.mode.teleop 1.*


So I get the following:

*halcmd getp* *halui.mode.teleop*
*FALSE*

*halcmd setp* *halui.mode.teleop 1*
*halcmd getp* *halui.mode.teleop*
*TRUE*

But it does not work. So has someone any idea what I could use to switch 
the mode from machineface?

I tried to modify my config to run the axis UI i get ii to work. If i 
switch there from the UI and read back I get false.
*halcmd getp* *halui.mode.teleop*
*FALSE*

thanks
mathias





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[Machinekit] Re: Open smae file twice or reload Problem

[鄭暐翰]

When I comment ApplicationCore.qml#L66 

,
Into any status(power on/off, start, stop, ...) changes will download ngc 
file and show in gcode Tab,
Did we have any other ways we can reload file?

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