Re: [Machinekit] Re: Machinekit not starting after compilation

[michelvanderbreggen21]

Can anybody tell me against which version of libprotobuf-dev and 
libprotoc-dev I should build machinekit?

Op woensdag 24 mei 2017 13:51:15 UTC+2 schreef michelvand...@gmail.com:
>
> Sorry,
> I know this is getting a long thread. 
>
> It seems as if the rtapi_app is unable to connect to shared memory. When I 
> start the app standalone, the following appears in the syslog
>
> *rtapi:0: rtapi_app:0 ERROR: cannot attach glocal segment key=0x154711 No 
> such file or directory*
>
>
>
> Op woensdag 24 mei 2017 13:39:32 UTC+2 schreef michelvand...@gmail.com:
>>
>> How do I prevent the build-script from building a RIP version? It seems 
>> that it does this automaticly
>>
>>
>> Op woensdag 24 mei 2017 13:12:33 UTC+2 schreef Schooner:
>>>
>>>
>>>
>>> On 24/05/17 11:36, michelvand...@gmail.com wrote:
>>>
>>> Strange thing is that the same config file works when I start it with 
>>> the prebuild machinekit on the same machine. 
>>>
>>> It looks like the rtapi_app fails, or is unresponsive for some reason
>>>
>>>
>>> It is always possible that this is just where it got to when the process 
>>> died, so not directly relevant.
>>>
>>> Do what Bas suggested and use DEBUG=5 and look at /var/log/linuxcnc.log 
>>> after a failure
>>>
>>> libwebsockets is optional now since 
>>> https://github.com/machinekit/machinekit/commit/320e76dbd51ab5bd2fa8a04dcb4ea90f2394bfbe
>>>
>>> If you built a RIP without enabling libwebsockets, it will be undefined, 
>>> even though the library is still there, should not be connected to your 
>>> problem.
>>>
>>>
>>>
>>>
>>> Op woensdag 24 mei 2017 11:44:45 UTC+2 schreef Schooner: 

 It is saying it cannot find the section [DISPLAY] INTRO_GRAPHIC 

 can't say further without your .ini file 

 You should not need INTRO_GRAPHIC or INTRO_TIME, but if you do have 
 them 
 what they point to must be valid 



 On 24/05/17 10:32, michelvand...@gmail.com wrote: 
 > Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1 
 > 2511 
 >   PID TTY  STAT   TIME COMMAND 
 > Stopping realtime threads 
 > Unloading hal components 

 -- 
>>> website: http://www.machinekit.io blog: http://blog.machinekit.io 
>>> github: https://github.com/machinekit
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>>> You received this message because you are subscribed to the Google 
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>>>
>>>
>>>

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Re: [Machinekit] Re: Machinekit not starting after compilation

[michelvanderbreggen21]

Sorry,
I know this is getting a long thread. 

It seems as if the rtapi_app is unable to connect to shared memory. When I 
start the app standalone, the following appears in the syslog

*rtapi:0: rtapi_app:0 ERROR: cannot attach glocal segment key=0x154711 No 
such file or directory*



Op woensdag 24 mei 2017 13:39:32 UTC+2 schreef michelvand...@gmail.com:
>
> How do I prevent the build-script from building a RIP version? It seems 
> that it does this automaticly
>
>
> Op woensdag 24 mei 2017 13:12:33 UTC+2 schreef Schooner:
>>
>>
>>
>> On 24/05/17 11:36, michelvand...@gmail.com wrote:
>>
>> Strange thing is that the same config file works when I start it with the 
>> prebuild machinekit on the same machine. 
>>
>> It looks like the rtapi_app fails, or is unresponsive for some reason
>>
>>
>> It is always possible that this is just where it got to when the process 
>> died, so not directly relevant.
>>
>> Do what Bas suggested and use DEBUG=5 and look at /var/log/linuxcnc.log 
>> after a failure
>>
>> libwebsockets is optional now since 
>> https://github.com/machinekit/machinekit/commit/320e76dbd51ab5bd2fa8a04dcb4ea90f2394bfbe
>>
>> If you built a RIP without enabling libwebsockets, it will be undefined, 
>> even though the library is still there, should not be connected to your 
>> problem.
>>
>>
>>
>>
>> Op woensdag 24 mei 2017 11:44:45 UTC+2 schreef Schooner: 
>>>
>>> It is saying it cannot find the section [DISPLAY] INTRO_GRAPHIC 
>>>
>>> can't say further without your .ini file 
>>>
>>> You should not need INTRO_GRAPHIC or INTRO_TIME, but if you do have them 
>>> what they point to must be valid 
>>>
>>>
>>>
>>> On 24/05/17 10:32, michelvand...@gmail.com wrote: 
>>> > Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1 
>>> > 2511 
>>> >   PID TTY  STAT   TIME COMMAND 
>>> > Stopping realtime threads 
>>> > Unloading hal components 
>>>
>>> -- 
>> website: http://www.machinekit.io blog: http://blog.machinekit.io 
>> github: https://github.com/machinekit
>> --- 
>> You received this message because you are subscribed to the Google Groups 
>> "Machinekit" group.
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>> email to machinekit+...@googlegroups.com.
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>> For more options, visit https://groups.google.com/d/optout.
>>
>>
>>

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Re: [Machinekit] Re: Machinekit not starting after compilation

[michelvanderbreggen21]

How do I prevent the build-script from building a RIP version? It seems 
that it does this automaticly


Op woensdag 24 mei 2017 13:12:33 UTC+2 schreef Schooner:
>
>
>
> On 24/05/17 11:36, michelvand...@gmail.com  wrote:
>
> Strange thing is that the same config file works when I start it with the 
> prebuild machinekit on the same machine. 
>
> It looks like the rtapi_app fails, or is unresponsive for some reason
>
>
> It is always possible that this is just where it got to when the process 
> died, so not directly relevant.
>
> Do what Bas suggested and use DEBUG=5 and look at /var/log/linuxcnc.log 
> after a failure
>
> libwebsockets is optional now since 
> https://github.com/machinekit/machinekit/commit/320e76dbd51ab5bd2fa8a04dcb4ea90f2394bfbe
>
> If you built a RIP without enabling libwebsockets, it will be undefined, 
> even though the library is still there, should not be connected to your 
> problem.
>
>
>
>
> Op woensdag 24 mei 2017 11:44:45 UTC+2 schreef Schooner: 
>>
>> It is saying it cannot find the section [DISPLAY] INTRO_GRAPHIC 
>>
>> can't say further without your .ini file 
>>
>> You should not need INTRO_GRAPHIC or INTRO_TIME, but if you do have them 
>> what they point to must be valid 
>>
>>
>>
>> On 24/05/17 10:32, michelvand...@gmail.com wrote: 
>> > Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1 
>> > 2511 
>> >   PID TTY  STAT   TIME COMMAND 
>> > Stopping realtime threads 
>> > Unloading hal components 
>>
>> -- 
> website: http://www.machinekit.io blog: http://blog.machinekit.io github: 
> https://github.com/machinekit
> --- 
> You received this message because you are subscribed to the Google Groups 
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> For more options, visit https://groups.google.com/d/optout.
>
>
>

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Re: [Machinekit] Re: Machinekit not starting after compilation

[michelvanderbreggen21]

Strange thing is that the same config file works when I start it with the 
prebuild machinekit on the same machine.

It looks like the rtapi_app fails, or is unresponsive for some reason



Op woensdag 24 mei 2017 11:44:45 UTC+2 schreef Schooner:
>
> It is saying it cannot find the section [DISPLAY] INTRO_GRAPHIC 
>
> can't say further without your .ini file 
>
> You should not need INTRO_GRAPHIC or INTRO_TIME, but if you do have them 
> what they point to must be valid 
>
>
>
> On 24/05/17 10:32, michelvand...@gmail.com  wrote: 
> > Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1 
> > 2511 
> >   PID TTY  STAT   TIME COMMAND 
> > Stopping realtime threads 
> > Unloading hal components 
>
>

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https://github.com/machinekit
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Re: [Machinekit] Re: Machinekit not starting after compilation

[michelvanderbreggen21]

Hello Bas,
what I noticed when I looked in /var/log/linuxcnc.log is the following

May 24 09:19:22 beaglebone msgd:0: startup pid=2533 flavor=xenomai 
rtlevel=1 usrlevel=1 halsize=524288 shm=Posix cc=gcc 4.9.2  version=unknown
May 24 09:19:22 beaglebone msgd:0: ØMQ=4.0.5 czmq=3.0.2 protobuf=3.2.0 
atomics=gcc intrinsicslibwebsockets=
May 24 09:19:22 beaglebone msgd:0: configured: sha=466cbe1
May 24 09:19:22 beaglebone msgd:0: built:  May 23 2017 10:36:45 
sha=466cbe1
May 24 09:19:23 beaglebone msgd:0: register_stuff: actual hostname as 
announced by avahi='beaglebone.local'
May 24 09:19:23 beaglebone msgd:0: zeroconf: registering: 'Log service on 
beaglebone.local pid 2533'
May 24 09:19:23 beaglebone msgd:0: rtapi_app exit detected - scheduled 
shutdown
May 24 09:19:23 beaglebone msgd:0: zeroconf: registered 'Log service on 
beaglebone.local pid 2533' _machinekit._tcp 0 TXT 
"uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" 
"instance=1316fd0c-4062-11e7-af1b-04a316b5de53" "service=log" 
"dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a"
May 24 09:19:25 beaglebone msgd:0: msgd shutting down

As you can see version is mentioned as unknown. All other points are the 
same, up until *rtapi_app exit detected*.

When I start the precompiled version of machinekit on the same image, it 
starts as expected, so it works, but just not with my compiled version.
Does anybody know which version of protobuf is needed?? because i read that 
this can cause problems ( although i don't know it halcmd connects to the 
rtapi_app using protobuf )



Op woensdag 24 mei 2017 11:45:07 UTC+2 schreef Bas de Bruijn:
>
> If you search this string on the google group a few similar threads show 
> up.
>
> If you’re not running as root, then perhaps this link may help.
>
> https://groups.google.com/forum/#!searchin/machinekit/ERROR$3A$20cannot$20attach$20global$20segment$20key$3D0x154711$20No$20such$20file$20or$20directory%7Csort:relevance/machinekit/jNhr3x9rmcU/6FLoXUlMIwAJ
>
> If you “export DEBUG=5” before running machinekit you can get some more 
> (and hopefully better) debug messages in /var/log/linuxcnc.log
>
> On 24 May 2017, at 11:32, michelvand...@gmail.com  wrote:
>
> I also found the following information in the print and debug files
>
> *machinekit@beaglebone:~$ cat /tmp/linuxcnc.debug*
> Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1 
> 2511
>   PID TTY  STAT   TIME COMMAND
> Stopping realtime threads
> Unloading hal components
>
> *machinekit@beaglebone:~$ cat /tmp/linuxcnc.print*
> RUN_IN_PLACE=yes
> LINUXCNC_DIR=
> LINUXCNC_BIN_DIR=/media/machinekit/rootfs/home/debian/machinekit/bin
> LINUXCNC_TCL_DIR=/media/machinekit/rootfs/home/debian/machinekit/tcl
> LINUXCNC_SCRIPT_DIR=
> LINUXCNC_RTLIB_DIR=/media/machinekit/rootfs/home/debian/machinekit/rtlib
> LINUXCNC_CONFIG_DIR=
>
> LINUXCNC_LANG_DIR=/media/machinekit/rootfs/home/debian/machinekit/src/objects
> INIVAR=/media/machinekit/rootfs/home/debian/machinekit/libexec/inivar
> HALCMD=halcmd
> LINUXCNC_EMCSH=/usr/bin/wish8.6
> INIFILE=/opt/nectar-apps/machinekit-config/nectar-dd-02.ini
> PARAMETER_FILE=./pru-stepper.var
> TASK=milltask
> HALUI=
> DISPLAY=tkemc
> Starting Machinekit server program: linuxcncsvr
> Loading Real Time OS, RTAPI, and HAL_LIB modules
> Starting Machinekit IO program: io
> Killing task linuxcncsvr, PID=2511
>
> Op woensdag 24 mei 2017 09:48:15 UTC+2 schreef michelvand...@gmail.com:
>>
>> Hello All,
>> I compiled a vanilla machinekit from git using the steps outlined in : 
>> http://www.machinekit.io/docs/developing/machinekit-developing/
>>
>> It had a problem with protobuf not understanding "syntax" in 
>> lib/python/machinetalk/protobuf/nanopb_pb2.py, which I read is related to 
>> which version protobuf is being used. I have protobuf 3.3.0 on the image i 
>> downloaded.
>> I commented these two syntax lines out, because it automaticly chooses 
>> version2 the lines said.
>>
>> Compilation went without any problem afterwards.
>>
>> I did the "sudo make setuid"
>>
>> when I go to the scripts folder I run ". ./rip-environment", that goes ok.
>>
>> But when I try to start machinekit with ./machinekit my.ini it dies with 
>> the following messages :
>>
>> May 24 06:45:50 beaglebone rtapi:0: rtapi_app:0: ERROR: cannot attach 
>> global segment key=0x154711 No such file or directory
>> May 24 06:45:50 beaglebone rtapi:0: rtapi:0: FATAL - failed to attach to 
>> global segment
>> May 24 06:47:10 beaglebone msgd:0: startup pid=2421 flavor=xenomai 
>> rtlevel=1 usrlevel=1 halsize=524288 shm=Posix cc=gcc 4.9.2 
>>  version=v0.1~-detached~b1ad179
>> May 24 06:47:10 beaglebone msgd:0: ØMQ=4.0.5 czmq=2.2.0 protobuf=2.6.1 
>> atomics=gcc intrinsicslibwebsockets=
>> May 24 06:47:10 beaglebone msgd:0: configured: sha=b1ad179
>> May 24 06:47:10 beaglebone msgd:0: built:  May 18 2017 17:11:51 
>> sha=b1ad179
>> May 24 06:47:10 beaglebone msgd:0: register_stuff: actual hostname as 
>> announced by avahi='beaglebone.local'
>> May 24 

[Machinekit] Re: Machinekit not starting after compilation

[michelvanderbreggen21]

I also found the following information in the print and debug files

*machinekit@beaglebone:~$ cat /tmp/linuxcnc.debug*
Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1 
2511
  PID TTY  STAT   TIME COMMAND
Stopping realtime threads
Unloading hal components

*machinekit@beaglebone:~$ cat /tmp/linuxcnc.print*
RUN_IN_PLACE=yes
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/media/machinekit/rootfs/home/debian/machinekit/bin
LINUXCNC_TCL_DIR=/media/machinekit/rootfs/home/debian/machinekit/tcl
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/media/machinekit/rootfs/home/debian/machinekit/rtlib
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/media/machinekit/rootfs/home/debian/machinekit/src/objects
INIVAR=/media/machinekit/rootfs/home/debian/machinekit/libexec/inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
INIFILE=/opt/nectar-apps/machinekit-config/nectar-dd-02.ini
PARAMETER_FILE=./pru-stepper.var
TASK=milltask
HALUI=
DISPLAY=tkemc
Starting Machinekit server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting Machinekit IO program: io
Killing task linuxcncsvr, PID=2511

Op woensdag 24 mei 2017 09:48:15 UTC+2 schreef michelvand...@gmail.com:
>
> Hello All,
> I compiled a vanilla machinekit from git using the steps outlined in : 
> http://www.machinekit.io/docs/developing/machinekit-developing/
>
> It had a problem with protobuf not understanding "syntax" in 
> lib/python/machinetalk/protobuf/nanopb_pb2.py, which I read is related to 
> which version protobuf is being used. I have protobuf 3.3.0 on the image i 
> downloaded.
> I commented these two syntax lines out, because it automaticly chooses 
> version2 the lines said.
>
> Compilation went without any problem afterwards.
>
> I did the "sudo make setuid"
>
> when I go to the scripts folder I run ". ./rip-environment", that goes ok.
>
> But when I try to start machinekit with ./machinekit my.ini it dies with 
> the following messages :
>
> May 24 06:45:50 beaglebone rtapi:0: rtapi_app:0: ERROR: cannot attach 
> global segment key=0x154711 No such file or directory
> May 24 06:45:50 beaglebone rtapi:0: rtapi:0: FATAL - failed to attach to 
> global segment
> May 24 06:47:10 beaglebone msgd:0: startup pid=2421 flavor=xenomai 
> rtlevel=1 usrlevel=1 halsize=524288 shm=Posix cc=gcc 4.9.2 
>  version=v0.1~-detached~b1ad179
> May 24 06:47:10 beaglebone msgd:0: ØMQ=4.0.5 czmq=2.2.0 protobuf=2.6.1 
> atomics=gcc intrinsicslibwebsockets=
> May 24 06:47:10 beaglebone msgd:0: configured: sha=b1ad179
> May 24 06:47:10 beaglebone msgd:0: built:  May 18 2017 17:11:51 
> sha=b1ad179
> May 24 06:47:10 beaglebone msgd:0: register_stuff: actual hostname as 
> announced by avahi='beaglebone.local'
> May 24 06:47:10 beaglebone msgd:0: zeroconf: registering: 'Log service on 
> beaglebone.local pid 2421'
> May 24 06:47:11 beaglebone msgd:0: zeroconf: registered 'Log service on 
> beaglebone.local pid 2421' _machinekit._tcp 0 TXT 
> "uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" 
> "instance=cf9f6c86-404c-11e7-a09a-04a316b5de53" "service=log" 
> "dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a"
> May 24 06:47:13 beaglebone msgd:0: rtapi_app exit detected - scheduled 
> shutdown
> May 24 06:47:15 beaglebone msgd:0: msgd shutting down
>
>
> Anybody an idea why this happens?
>
> With regards,
> Michel
>

-- 
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[Machinekit] Machinekit not starting after compilation

[michelvanderbreggen21]

Hello All,
I compiled a vanilla machinekit from git using the steps outlined in 
: http://www.machinekit.io/docs/developing/machinekit-developing/

It had a problem with protobuf not understanding "syntax" in 
lib/python/machinetalk/protobuf/nanopb_pb2.py, which I read is related to 
which version protobuf is being used. I have protobuf 3.3.0 on the image i 
downloaded.
I commented these two syntax lines out, because it automaticly chooses 
version2 the lines said.

Compilation went without any problem afterwards.

I did the "sudo make setuid"

when I go to the scripts folder I run ". ./rip-environment", that goes ok.

But when I try to start machinekit with ./machinekit my.ini it dies with 
the following messages :

May 24 06:45:50 beaglebone rtapi:0: rtapi_app:0: ERROR: cannot attach 
global segment key=0x154711 No such file or directory
May 24 06:45:50 beaglebone rtapi:0: rtapi:0: FATAL - failed to attach to 
global segment
May 24 06:47:10 beaglebone msgd:0: startup pid=2421 flavor=xenomai 
rtlevel=1 usrlevel=1 halsize=524288 shm=Posix cc=gcc 4.9.2 
 version=v0.1~-detached~b1ad179
May 24 06:47:10 beaglebone msgd:0: ØMQ=4.0.5 czmq=2.2.0 protobuf=2.6.1 
atomics=gcc intrinsicslibwebsockets=
May 24 06:47:10 beaglebone msgd:0: configured: sha=b1ad179
May 24 06:47:10 beaglebone msgd:0: built:  May 18 2017 17:11:51 
sha=b1ad179
May 24 06:47:10 beaglebone msgd:0: register_stuff: actual hostname as 
announced by avahi='beaglebone.local'
May 24 06:47:10 beaglebone msgd:0: zeroconf: registering: 'Log service on 
beaglebone.local pid 2421'
May 24 06:47:11 beaglebone msgd:0: zeroconf: registered 'Log service on 
beaglebone.local pid 2421' _machinekit._tcp 0 TXT 
"uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" 
"instance=cf9f6c86-404c-11e7-a09a-04a316b5de53" "service=log" 
"dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a"
May 24 06:47:13 beaglebone msgd:0: rtapi_app exit detected - scheduled 
shutdown
May 24 06:47:15 beaglebone msgd:0: msgd shutting down


Anybody an idea why this happens?

With regards,
Michel

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[Machinekit] Re: Trajectory Planner and how it is being called from Machinekit

[michelvanderbreggen21]

Found it in the scripts directory. Now am looking at the fastest way to 
compile, On the BBB it takes a few hours.

Op vrijdag 19 mei 2017 11:12:52 UTC+2 schreef michelvand...@gmail.com:
>
> Hello All,
> I am looking at the machinekit trajectory planner and how it is being 
> called from the machinekit code. I have seen the init codes, but which 
> function is called to calculate the next queue item?
>
> Also does anybody know in which function the choice is made to use arc or 
> spherical blending?
>
> Thank you,
> Michel
>

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[Machinekit] Re: Trajectory Planner and how it is being called from Machinekit

[michelvanderbreggen21]

Thank you Robert,
With your reply I have found what I needed inside both functions. 

May I ask 2 more pieces of information needed for my project??

1. When I compile machinekit on the BBB, I get all code in the bin 
directory, but when I start machinekit, it will not start because there is 
no linuxcnc binary file. Only 4 files with a name that looks like linuxcnc 
are in the bin directory... linuxcnclcd, linuxcncrsh, linuxcncsvr, 
linuxcnctop. Am I doing something wrong??

2. When I copy your TP folder I have to make changes to the tpmain.c file 
to change the name of the module. Do I only have to change the *mod_name or 
also the *name variable to give it a new modulename? And do I need to 
change the names in the VTable to match those variables or are they 
independent?


Sorry for all the questions,

Michel


Op vrijdag 19 mei 2017 11:12:52 UTC+2 schreef michelvand...@gmail.com:
>
> Hello All,
> I am looking at the machinekit trajectory planner and how it is being 
> called from the machinekit code. I have seen the init codes, but which 
> function is called to calculate the next queue item?
>
> Also does anybody know in which function the choice is made to use arc or 
> spherical blending?
>
> Thank you,
> Michel
>

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[Machinekit] Re: Trying to measure velocity and acceleration of the machinekit axis

[michelvanderbreggen21]

acceleration currently is 4000 ( probably insane ).

I will try and place the ddt on the PID output, see if that changes 
something.

The reason for the high accelerations is that machinekit slowed the motion 
so much that it was visible on the print ( in the form of blobs ).

Thanks for the reply,
Michel

Op woensdag 17 mei 2017 17:24:32 UTC+2 schreef michelvand...@gmail.com:
>
> Hello All,
> I am trying to measure the velocity and acceleration of the individual 
> axis in machinekit.
>
> I have added the ddt components and included them in my hal.
>
> This is a copy of part of my hal file with the DDTs included.
>
> *# axis enable chain*
> *newsig emcmot.00.enable bit*
> *sets emcmot.00.enable FALSE*
>
> *net emcmot.00.enable axis.0.amp-enable-out => hpg.stepgen.00.enable 
> pid.0.enable*
>
> *# position command and feedback*
> *net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command ddt.0.in 
> *
> *net emcmot.00.vel-cmd axis.0.joint-vel-cmd => pid.0.command-deriv*
>
> *net emcmot.00.pos-fb hpg.stepgen.00.position-fb => axis.0.motor-pos-fb 
> pid.0.feedback *
> *net emcmot.00.command pid.0.output => hpg.stepgen.00.velocity-cmd*
> *#net emcmot.00.pos-cmd => hpg.stepgen.00.position-cmd ddt.0.in 
> *
>
> *setp pid.0.error-previous-target true*
> *setp pid.0.maxerror .001*
>
> *# Set the stepgen in velocity mode*
> *setp hpg.stepgen.00.control-type 1*
>
> *# timing parameters*
> *setp hpg.stepgen.00.dirsetup[AXIS_0]DIRSETUP*
> *setp hpg.stepgen.00.dirhold [AXIS_0]DIRHOLD*
>
> *setp hpg.stepgen.00.steplen [AXIS_0]STEPLEN*
> *setp hpg.stepgen.00.stepspace   [AXIS_0]STEPSPACE*
>
> *setp hpg.stepgen.00.position-scale  [AXIS_0]SCALE*
>
> *setp hpg.stepgen.00.maxvel  [AXIS_0]STEPGEN_MAX_VEL*
> *setp hpg.stepgen.00.maxaccel[AXIS_0]STEPGEN_MAX_ACC*
>
> *# P8.9 X_Step*
> *setp hpg.stepgen.00.steppin 0x65*
> *# P8.10 X_Dir*
> *setp hpg.stepgen.00.dirpin  0x64*
>
> *# PID settings to prevent PRU pin hunting*
> *setp pid.0.Pgain [AXIS_0]P*
> *setp pid.0.Igain [AXIS_0]I*
> *setp pid.0.Dgain [AXIS_0]D*
> *setp pid.0.bias [AXIS_0]BIAS*
> *setp pid.0.FF0 [AXIS_0]FF0*
> *setp pid.0.FF1 [AXIS_0]FF1*
> *setp pid.0.FF2 [AXIS_0]FF2*
> *setp pid.0.deadband [AXIS_0]DEADBAND*
> *setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT*
>
> *# set the signals for the velocity and acceleration*
> *net Xvel ddt.0.out => ddt.1.in  *
> *net Xacc <= ddt.1.out*
>
> This is, if I am correct, the same way Bas de Bruin showed in his setup. 
> The derivative of the position is the speed ( with the problem that I don't 
> know what unit is being used, since the time constant will be the 
> servo-thread period ). And the derivative of the speed is the acceleration.
>
> I opened halscope and plotted the Xvel net. But instead of a "logical" 
> speed graph I got the following:
>
>
> 
>
> Does anybody know why this doesn't look like what I would expect ( 
> something more of a straight line with nice slopes )??
>
> With regards,
> Michel van der Breggen
>
>
>
>

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[Machinekit] Re: Trying to measure velocity and acceleration of the machinekit axis

[michelvanderbreggen21]

Hello Bas,
This is what I get when I put the scale to 1/div. This looks more like 
noise to me than real data, but i could be wrong. I also slit the zoom back 
to 0. I also changed the scale of the acceleration axis.




Op woensdag 17 mei 2017 17:24:32 UTC+2 schreef michelvand...@gmail.com:
>
> Hello All,
> I am trying to measure the velocity and acceleration of the individual 
> axis in machinekit.
> With regards,
> Michel van der Breggen
>
>
>
>

-- 
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https://github.com/machinekit
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[Machinekit] Re: Trying to measure velocity and acceleration of the machinekit axis

[michelvanderbreggen21]

Sorry forget to include the right angle. I am printing an arced element




Op woensdag 17 mei 2017 17:24:32 UTC+2 schreef michelvand...@gmail.com:
>
> Hello All,
> I am trying to measure the velocity and acceleration of the individual 
> axis in machinekit.
>
> I have added the ddt components and included them in my hal.
>
> This is a copy of part of my hal file with the DDTs included.
>
> *# axis enable chain*
> *newsig emcmot.00.enable bit*
> *sets emcmot.00.enable FALSE*
>
> *net emcmot.00.enable axis.0.amp-enable-out => hpg.stepgen.00.enable 
> pid.0.enable*
>
> *# position command and feedback*
> *net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command ddt.0.in 
> *
> *net emcmot.00.vel-cmd axis.0.joint-vel-cmd => pid.0.command-deriv*
>
> *net emcmot.00.pos-fb hpg.stepgen.00.position-fb => axis.0.motor-pos-fb 
> pid.0.feedback *
> *net emcmot.00.command pid.0.output => hpg.stepgen.00.velocity-cmd*
> *#net emcmot.00.pos-cmd => hpg.stepgen.00.position-cmd ddt.0.in 
> *
>
> *setp pid.0.error-previous-target true*
> *setp pid.0.maxerror .001*
>
> *# Set the stepgen in velocity mode*
> *setp hpg.stepgen.00.control-type 1*
>
> *# timing parameters*
> *setp hpg.stepgen.00.dirsetup[AXIS_0]DIRSETUP*
> *setp hpg.stepgen.00.dirhold [AXIS_0]DIRHOLD*
>
> *setp hpg.stepgen.00.steplen [AXIS_0]STEPLEN*
> *setp hpg.stepgen.00.stepspace   [AXIS_0]STEPSPACE*
>
> *setp hpg.stepgen.00.position-scale  [AXIS_0]SCALE*
>
> *setp hpg.stepgen.00.maxvel  [AXIS_0]STEPGEN_MAX_VEL*
> *setp hpg.stepgen.00.maxaccel[AXIS_0]STEPGEN_MAX_ACC*
>
> *# P8.9 X_Step*
> *setp hpg.stepgen.00.steppin 0x65*
> *# P8.10 X_Dir*
> *setp hpg.stepgen.00.dirpin  0x64*
>
> *# PID settings to prevent PRU pin hunting*
> *setp pid.0.Pgain [AXIS_0]P*
> *setp pid.0.Igain [AXIS_0]I*
> *setp pid.0.Dgain [AXIS_0]D*
> *setp pid.0.bias [AXIS_0]BIAS*
> *setp pid.0.FF0 [AXIS_0]FF0*
> *setp pid.0.FF1 [AXIS_0]FF1*
> *setp pid.0.FF2 [AXIS_0]FF2*
> *setp pid.0.deadband [AXIS_0]DEADBAND*
> *setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT*
>
> *# set the signals for the velocity and acceleration*
> *net Xvel ddt.0.out => ddt.1.in  *
> *net Xacc <= ddt.1.out*
>
> This is, if I am correct, the same way Bas de Bruin showed in his setup. 
> The derivative of the position is the speed ( with the problem that I don't 
> know what unit is being used, since the time constant will be the 
> servo-thread period ). And the derivative of the speed is the acceleration.
>
> I opened halscope and plotted the Xvel net. But instead of a "logical" 
> speed graph I got the following:
>
>
> 
>
> Does anybody know why this doesn't look like what I would expect ( 
> something more of a straight line with nice slopes )??
>
> With regards,
> Michel van der Breggen
>
>
>
>

-- 
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https://github.com/machinekit
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[Machinekit] Trying to measure velocity and acceleration of the machinekit axis

[michelvanderbreggen21]

Hello All,
I am trying to measure the velocity and acceleration of the individual axis 
in machinekit.

I have added the ddt components and included them in my hal.

This is a copy of part of my hal file with the DDTs included.

*# axis enable chain*
*newsig emcmot.00.enable bit*
*sets emcmot.00.enable FALSE*

*net emcmot.00.enable axis.0.amp-enable-out => hpg.stepgen.00.enable 
pid.0.enable*

*# position command and feedback*
*net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command ddt.0.in*
*net emcmot.00.vel-cmd axis.0.joint-vel-cmd => pid.0.command-deriv*

*net emcmot.00.pos-fb hpg.stepgen.00.position-fb => axis.0.motor-pos-fb 
pid.0.feedback *
*net emcmot.00.command pid.0.output => hpg.stepgen.00.velocity-cmd*
*#net emcmot.00.pos-cmd => hpg.stepgen.00.position-cmd ddt.0.in*

*setp pid.0.error-previous-target true*
*setp pid.0.maxerror .001*

*# Set the stepgen in velocity mode*
*setp hpg.stepgen.00.control-type 1*

*# timing parameters*
*setp hpg.stepgen.00.dirsetup[AXIS_0]DIRSETUP*
*setp hpg.stepgen.00.dirhold [AXIS_0]DIRHOLD*

*setp hpg.stepgen.00.steplen [AXIS_0]STEPLEN*
*setp hpg.stepgen.00.stepspace   [AXIS_0]STEPSPACE*

*setp hpg.stepgen.00.position-scale  [AXIS_0]SCALE*

*setp hpg.stepgen.00.maxvel  [AXIS_0]STEPGEN_MAX_VEL*
*setp hpg.stepgen.00.maxaccel[AXIS_0]STEPGEN_MAX_ACC*

*# P8.9 X_Step*
*setp hpg.stepgen.00.steppin 0x65*
*# P8.10 X_Dir*
*setp hpg.stepgen.00.dirpin  0x64*

*# PID settings to prevent PRU pin hunting*
*setp pid.0.Pgain [AXIS_0]P*
*setp pid.0.Igain [AXIS_0]I*
*setp pid.0.Dgain [AXIS_0]D*
*setp pid.0.bias [AXIS_0]BIAS*
*setp pid.0.FF0 [AXIS_0]FF0*
*setp pid.0.FF1 [AXIS_0]FF1*
*setp pid.0.FF2 [AXIS_0]FF2*
*setp pid.0.deadband [AXIS_0]DEADBAND*
*setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT*

*# set the signals for the velocity and acceleration*
*net Xvel ddt.0.out => ddt.1.in *
*net Xacc <= ddt.1.out*

This is, if I am correct, the same way Bas de Bruin showed in his setup. 
The derivative of the position is the speed ( with the problem that I don't 
know what unit is being used, since the time constant will be the 
servo-thread period ). And the derivative of the speed is the acceleration.

I opened halscope and plotted the Xvel net. But instead of a "logical" 
speed graph I got the following:



Does anybody know why this doesn't look like what I would expect ( 
something more of a straight line with nice slopes )??

With regards,
Michel van der Breggen



-- 
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https://github.com/machinekit
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Re: [Machinekit] Re: Strange pulse waves on X,Y,Z direction outputs when axis are static

[michelvanderbreggen21]

Hello Charles,
Thank you, that did the trick.

Michel

Op dinsdag 16 mei 2017 12:51:21 UTC+2 schreef Charles Steinkuehler:
>
> On 5/16/2017 2:18 AM, michelvand...@gmail.com  wrote: 
> > Hello Jeff, 
> > I have tried to add the PID loop to my setup. I copied the code from the 
> Xylotek 
> > HAL and Config file. But for some reason when I feed the PID loop output 
> into 
> > the velocity command, the motors don't move at all. When i feed the PID 
> output 
> > into the position command the machine starts moving but completly 
> uncontrolable. 
>
> You need to run the stepgen in velocity mode, not position mode: 
>
> http://www.machinekit.io/docs/man/man9/hal_pru_generic/ 
>
> setp hpg.stepgen.00.control-type 1 
>
> -- 
> Charles Steinkuehler 
> cha...@steinkuehler.net  
>

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