--- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@...> wrote:
>
> Hi Ray,
>  
> The DefineCS requires spaces not commas as parameter separators.  KFLOP responds with an error message which normally causes the communication to get out of sync and a disconnect.  Not sure why it isn't detecting something wrong under .NET.
>  
> Don't know about the weird Z pulses.  Do you get them with your DSP programs disabled?
>  
> TK
>  
>  
>
> From: himykabibble <jagboy@...>
> To: DynoMotion@yahoogroups.com
> Sent: Friday, February 3, 2012 3:15 PM
> Subject: [DynoMotion] Re: Can You Verify My Settings?
>
>
>  
> Doing DefineCoordSystem() in the DSP works correctly. Doing "WriteLine("DefineCS = 3, 2, 1, 0, -1, -1"); through dotNet in the app does absolutely nothing. The board retains whatever setting was already there.
>
> Swapping the Z and A axis channels with DefineCoordsystem did not alter the problem with the Z axis moving in any way. I don't see how those spurious pulses can be anything but a hardware problem. An RTL bug? Whatever it is, seems like it may factor into the explanation the Z axis acceleration problem.
>
> Regards,
> Ray L.
>
> --- In DynoMotion@yahoogroups.com, "himykabibble" <jagboy@> wrote:
> >
> > Looks like the Gods of Yahoo decided to eat my last message - it never showed up on the forum. I now have two additional problems:
> >
> > 1) DefineCS does not work. Whether I program it in my init, or do it through KMotions console window, no matter what I set, when I do a "DefineCS" in the console window, it ALWAYS returns "0 1 2 3 -1 -1". Also, the help page on CoordMotion makes reference to the "DefineCS6" command, which I assume doesn't actually exist. I was hoping to swap the Z axis with one of the others, and see if problem #2 below follows....
> >
> > 2) While working on the acceleration problem, I happened to notice that every time I move the X, Y or A axis, the Z axis moves slightly. After jogging the X axis between 0.0 and 1.0 about a dozen times, the Z axis was about 1/8" higher than it should be. At the start of ANY move on ANY axis, the Z axis moves (ALWAYS up) a few thou. If I go into KMotion and set the Z axis Step pin (IO12) as an input, the problem goes away completely. I got out my scope, and, sure enough, there is a burst of pulses coming out of IO12 at the start of any move, even when my machine is completely disconnected from the KFlop, leaving only the passive breakout board connected. This is not noise - I am seeing fast-fall, fast-rise, full-amplitude, rail-to-rail pulses, perhaps a few dozen or so. The signal is otherwise quite clean. I swapped in my backup KFlop, and I see exactly the same thing.
> >
> > The hits just keep on comin'....
> >
> > Regards,
> > Ray L.
> >
> > --- In DynoMotion@yahoogroups.com, brad murry <bradodarb@> wrote:
> > >
> > > Debugging in 2010 may or may not be the issue. You need to make sure you are in debug config, your application settings in c# need to allow unmanaged debugging and if you want to debug deeper than the interop you will need to set those c++ projects to mixed mode....
> > >
> > > -Brad Murry
> > > ________________________________
> > > From: himykabibble
> > > Sent: 2/3/2012 12:55 PM
> > > To: DynoMotion@yahoogroups.com
> > > Subject: [DynoMotion] Re: Can You Verify My Settings?
> > >
> > > Brad,
> > >
> > > I've just read back the Interpreter and CoordMotion parameters for all six axes,and they all read back what they should. Where else could this possibly be coming from?
> > >
> > > I've had no luck getting VS2010 Express to let me debug into the DLLs.
> > >
> > > Regards,
> > > Ray L.
> > >
> > > --- In DynoMotion@yahoogroups.com, brad murry <bradodarb@> wrote:
> > > >
> > > > You can check values once you set them, the .net properties do not actually retain data, they merely get and set public members in the c++ code. This means if you set a value and then check it you are reading the values in the underlying libraries. As an added test you can verify values with script commands.
> > > >
> > > > I have played with accels and velocities and it seems to work for me.
> > > >
> > > > -Brad Murry
> > > > ________________________________
> > > > From: Tom Kerekes
> > > > Sent: 2/3/2012 12:11 PM
> > > > To: DynoMotion@yahoogroups.com
> > > > Subject: Re: [DynoMotion] Re: Can You Verify My Settings?
> > > >
> > > > Hi Ray,
> > > >
> > > > I don't see anything wrong. Again the simplest thing would just be to use the debugger to check what Aceleration is actually being used in the Trajectory Planner. If it is wrong, work backwards to find the disconnect. That's the nice thing about having all the source code.
> > > >
> > > > I agree it most likely an issue with the .NET. If you want to post your code I can try to find time to debug it. But I would need everything including the .NET interface you are currently using.
> > > >
> > > > One other possibility might be the feed rate override being set to infinity or something.
> > > >
> > > > Regards
> > > > TK
> > > >
> > > >
> > > >
> > > >
> > > >
> > > > From: himykabibble <jagboy@>
> > > > To: DynoMotion@yahoogroups.com
> > > > Sent: Friday, February 3, 2012 10:25 AM
> > > > Subject: [DynoMotion] Re: Can You Verify My Settings?
> > > >
> > > >
> > > >
> > > > Tom,
> > > >
> > > > I just tried KMotionCNC again, and it is NOT having this problem, which suggests to me I'm either not doing some essential initialization, or there's a bug in dotNet, and it;s not doing the requested initialization correctly. Both my app and KMotionCNC are using the exact same Init.c, so my init code and dotNet appear to me to be the only variables, as the only other thing my app is doing is passing the G-code file to the interpreter.
> > > >
> > > > Am I doing the right init? Am I doing it at the right time???
> > > >
> > > > Kinda smells like the axis parameters are not "taking", since changing acceleration and velocity all over the map makes NO difference in the behavior.
> > > >
> > > > Below is ALL of the init I'm doing in my app, other than loading the Init.c. This is all done when the first connection is established on app startup. If the connection is lost, only Init.c is re-loaded when the connection comes back.
> > > >
> > > > private void InitAxes()
> > > > {
> > > > // Define the axes
> > > > KMAxes = new Dictionary<string, KMotion_dotNet.KM_Axis>();
> > > > KMAxes.Add("XAxis", new KMotion_dotNet.KM_Axis(KMController, 0, "XAxis"));
> > > > KMAxes.Add("YAxis", new KMotion_dotNet.KM_Axis(KMController, 1, "YAxis"));
> > > > KMAxes.Add("ZAxis", new KMotion_dotNet.KM_Axis(KMController, 2, "ZAxis"));
> > > > KMAxes.Add("AAxis", new KMotion_dotNet.KM_Axis(KMController, 3, "AAxis"));
> > > >
> > > > KMController.AxisChannels = KMAxes;
> > > >
> > > > KMController.CoordMotion.Abort();
> > > > KMController.CoordMotion.ClearAbort();
> > > >
> > > > KMController.CoordMotion.MotionParams.CountsPerInchX = StepsPerInchX;
> > > > KMController.CoordMotion.MotionParams.MaxVelX = MaxVelX;
> > > > KMController.CoordMotion.MotionParams.MaxAccelX = AccelX;
> > > > KMController.WriteLine("EnableAxis0");
> > > >
> > > > KMController.CoordMotion.MotionParams.CountsPerInchY = StepsPerInchY;
> > > > KMController.CoordMotion.MotionParams.MaxVelY = MaxVelY;
> > > > KMController.CoordMotion.MotionParams.MaxAccelY = AccelY;
> > > > KMController.WriteLine("EnableAxis1");
> > > >
> > > > KMController.CoordMotion.MotionParams.CountsPerInchZ = StepsPerInchZ;
> > > > KMController.CoordMotion.MotionParams.MaxVelZ = MaxVelZ;
> > > > KMController.CoordMotion.MotionParams.MaxAccelZ = AccelZ;
> > > > KMController.WriteLine("EnableAxis2");
> > > >
> > > > KMController.CoordMotion.MotionParams.CountsPerInchA = StepsPerInchA;
> > > > KMController.CoordMotion.MotionParams.MaxVelA = MaxVelA;
> > > > KMController.CoordMotion.MotionParams.MaxAccelA = AccelA;
> > > > KMController.WriteLine("EnableAxis3");
> > > >
> > > > KMController.WriteLine("DefineCS = 0 1 2 3 -1 -1");
> > > > }
> > > >
> > > > public void InterpreterInit()
> > > > {
> > > > KMController.Interpreter.Interpreter_CoordMotionStraightFeed +=
> > > > new KM_CoordMotionStraightFeedHandler(Interpreter_Interpreter_CoordMotionStraightFeed);
> > > > KMController.Interpreter.Interpreter_CoordMotionStraightTraverse +=
> > > > new KM_CoordMotionStraightTraverseHandler(Interpreter_Interpreter_CoordMotionStraightTraverse);
> > > > KMController.Interpreter.Interpreter_CoordMotionArcFeed +=
> > > > new KM_CoordMotionArcFeedHandler(Interpreter_Interpreter_CoordMotionArcFeed);
> > > > KMController.Interpreter.InterpreterCompleted +=
> > > > new KM_Controller.KM_Interpreter.KM_GCodeInterpreterCompleteHandler(Interpreter_InterpreterCompleted);
> > > > KMController.Interpreter.InterpreterStatusUpdated +=
> > > > new KM_Controller.KM_Interpreter.KM_GCodeInterpreterStatusHandler(Interpreter_InterpreterStatusUpdated);
> > > >
> > > > KMController.Interpreter.MainPathRoot = @"C:\KMotion428";
> > > >
> > > > KMController.Interpreter.CountsPerInchX = StepsPerInchX;
> > > > KMController.Interpreter.MaxVelX = MaxVelX;
> > > > KMController.Interpreter.MaxAccelX = AccelX;
> > > >
> > > > KMController.Interpreter.CountsPerInchY = StepsPerInchY;
> > > > KMController.Interpreter.MaxVelY = MaxVelY;
> > > > KMController.Interpreter.MaxAccelY = AccelY;
> > > >
> > > > KMController.Interpreter.CountsPerInchZ = StepsPerInchZ;
> > > > KMController.Interpreter.MaxVelZ = MaxVelZ;
> > > > KMController.Interpreter.MaxAccelZ = AccelZ;
> > > >
> > > > KMController.Interpreter.CountsPerInchA = StepsPerInchA;
> > > > KMController.Interpreter.MaxVelA = MaxVelA;
> > > > KMController.Interpreter.MaxAccelA = AccelA;
> > > >
> > > > KMController.Interpreter.BreakAngle = 30;
> > > >
> > > > KMController.Interpreter.SetupParams.LengthUnits = KMotion_dotNet.CANON_UNITS.CANON_UNITS_INCHES;
> > > > KMController.Interpreter.SetupParams.X_AxisOffset = 0.0;
> > > > KMController.Interpreter.SetupParams.Y_AxisOffset = 0.0;
> > > > KMController.Interpreter.SetupParams.Z_AxisOffset = 0.0;
> > > >
> > > > KMController.Interpreter.SetupParams.BlockDelete = true;
> > > >
> > > > KMController.Interpreter.SetupParams.RadiusCompSide = KMotion_dotNet.CANON_SIDE.CANON_SIDE_OFF;
> > > > KMController.Interpreter.SetupParams.Cycle_R = 0.0;
> > > > KMController.Interpreter.SetupParams.Cycle_Z = 0.0;
> > > >
> > > > KMController.Interpreter.SetupParams.DistanceMode = KMotion_dotNet.DISTANCE_MODE.MODE_ABSOLUTE;
> > > >
> > > > KMController.Interpreter.SetupParams.FeedMode = 2;
> > > >
> > > > KMController.Interpreter.SetupParams.FloodCoolantOn = false;
> > > > KMController.Interpreter.SetupParams.MistCoolantOn = false;
> > > >
> > > > KMController.Interpreter.SetupParams.CurrentMotionMode = 80;
> > > >
> > > > KMController.Interpreter.SetupParams.WorkPlane = KMotion_dotNet.CANON_PLANE.CANON_PLANE_XY;
> > > >
> > > > KMController.Interpreter.SetupParams.ToolLengthOffsetIndex = 1;
> > > > KMController.Interpreter.SetupParams.RadiusComp = 1;
> > > >
> > > > KMController.Interpreter.SetupParams.SelectedToolSlot = 1;
> > > > KMController.Interpreter.SetupParams.TraverseSpeed = 200;
> > > > KMController.Interpreter.SetupParams.SpindleDirection = KMotion_dotNet.CANON_DIRECTION.CANON_STOPPED;
> > > > KMController.Interpreter.SetupParams.ToolLengthOffset = 0.0;
> > > >
> > > > KMController.Interpreter.SetMcodeAction(3, MCODE_TYPE.M_Action_SetTwoBits, 27, 1, 28, 0, 0, "SpindleCW");
> > > > KMController.Interpreter.SetMcodeAction(4, MCODE_TYPE.M_Action_SetTwoBits, 27, 0, 28, 1, 0, "SpindleCCW");
> > > > KMController.Interpreter.SetMcodeAction(5, MCODE_TYPE.M_Action_SetTwoBits, 27, 0, 28, 0, 0, "SpindleOff");
> > > > KMController.Interpreter.SetMcodeAction(7, MCODE_TYPE.M_Action_Setbit, 3, 1, 0, 0, 0, "MistOn");
> > > > KMController.Interpreter.SetMcodeAction(8, MCODE_TYPE.M_Action_Setbit, 4, 1, 0, 0, 0, "FloodOn");
> > > > KMController.Interpreter.SetMcodeAction(9, MCODE_TYPE.M_Action_SetTwoBits, 3, 0, 4, 0, 0, "CoolantOff");
> > > > KMController.Interpreter.SetMcodeAction(10, MCODE_TYPE.M_Action_Program, 2, 4, 0, 0, 0, @"C:\My KFlop C Programs\KMotionCNC\KMotionCNCSpindlePWM.c");
> > > > KMController.Interpreter.SetMcodeAction(21, MCODE_TYPE.M_Action_Program, 4, 10, 28, 0, 0, @"C:\My KFlop C Programs\KMotionCNC\KMotionCNCMCodeHandler.c");
> > > >
> > > > KMController.Interpreter.InitializeOnExecute = false;
> > > > KMController.Interpreter.InitializeInterpreter();
> > > >
> > > > InterpreterInitialized = true;
> > > >
> > > > RunCommand(@"C:\KMotion428\GCode Programs\Init.nc", "G20 F0 S0 G54", true);
> > > >
> > > > while (InterpreterIsRunning)
> > > > ;
> > > > }
> > > >
> > > > Regards,
> > > > Ray L.
> > > >
> > > > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > > > >
> > > > > Hi Ray,
> > > > > ÃÆ'‚
> > > > > Sounds like a bug.ÃÆ'‚ Is that from your code?ÃÆ'‚ Maybe some parameter is not being set?ÃÆ'‚ You will probably have to step into the code to figure it out.ÃÆ'‚ Otherwise capture the output motion to see what the really acceleration is.
> > > > > ÃÆ'‚
> > > > > Which connectors are you using.ÃÆ'‚ You can multiplex the encoder inputs to JP4 and JP6 if that helps.
> > > > > ÃÆ'‚
> > > > > Regards
> > > > > TK
> > > > >
> > > > >
> > > > > ________________________________
> > > > > From: himykabibble <jagboy@>
> > > > > To: DynoMotion@yahoogroups.com
> > > > > Sent: Friday, February 3, 2012 9:14 AM
> > > > > Subject: [DynoMotion] Re: Can You Verify My Settings?
> > > > >
> > > > >
> > > > > ÃÆ'‚
> > > > > Just a little more data:
> > > > >
> > > > > I increased velocity to 200 IPM (67733), acceleration to 35 in/sec^2 (700000), and jerk to 2E12, and I get VERY rare faults when running G0s - perhaps one every few hundred cycles. This is perfectly consistent with what I saw when I first setup the system with Mach3. With the 5X reduced settings in my previous post, I still get CONSTANT faults running G1s, even with the Feedrate specified as only 15 IPM. Why is the response to G1s so radically different from G0s?
> > > > >
> > > > > Unfortunately, no easy way to wire encoders in, as I'm using the encoder pins for other things, and I'm not keen on re-wiring just now. But, it seems to me the fact that I can run such aggressive parameters with G0s indicates the servo tuning is not all that far from optimal.
> > > > >
> > > > > Regards,
> > > > > Ray L.
> > > > >
> > > > > --- In DynoMotion@yahoogroups.com, "himykabibble" <jagboy@> wrote:
> > > > > >
> > > > > > Tom,
> > > > > >
> > > > > > I'm stumped here.... If I do:
> > > > > >
> > > > > > G00 Z-0.5
> > > > > > G00 Z0.0
> > > > > >
> > > > > > with acceleration at 25in/sec^2, jerk at 20E6, it will run HUNDREDS of cycles, never skipping a beat. I have . But, if I do:
> > > > > >
> > > > > > G01 Z-0.5 F150
> > > > > > G01 Z0.0
> > > > > >
> > > > > > even with acceleration reduced by a factor of 5 (to 5in/sec^2), and jerk reduced to 2E5, it faults the servo on EVERY move, and the axis never moves! What is going on here?
> > > > > >
> > > > > > This is the same behavior I've been seeing on my knee - where G0s work perfectly, but when I try to jog with the pendant, I can very easily get faults, even at very low speeds. None of the axes on this machine have ever faulted in the past, unless I ran them into an immovable object.
> > > > > >
> > > > > > Regards,
> > > > > > Ray L.
> > > > > >
> > > > > > --- In DynoMotion@yahoogroups.com, "himykabibble" <jagboy@> wrote:
> > > > > > >
> > > > > > > Tom,
> > > > > > >
> > > > > > > The code is the following two lines repeated many time:
> > > > > > >
> > > > > > > G01 Z-0.1 F30
> > > > > > > G00 Z0.0
> > > > > > >
> > > > > > > The velocity and acceleration settings are what I've been using ever since I built the machine over 3 years ago. Never a problem. In fact, it's capable of more, it's just too scary to crank things up any higher.
> > > > > > >
> > > > > > > Can you explain why KMotionCNC would behave differently from my app? That's the one that really makes no sense to me. I can accept that the servo tuning is not perfect (though it's worked perfectly all these years), but I can't understand why KMotionCNC would not exactly duplicate what my app does, unless the settings in my program are wrong.
> > > > > > >
> > > > > > > Regards,
> > > > > > > Ray L.
> > > > > > >
> > > > > > > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > > > > > > >
> > > > > > > > Hi Ray,
> > > > > > > > ÃÆ'Æ'‚ÃÆ'‚
> > > > > > > > When you say "200ÃÆ'Æ'‚ÃÆ'‚ IPM rapid back up" I assume youÃÆ'Æ'‚ÃÆ'‚ didn't mean to say "rapid" as in G0?ÃÆ'Æ'‚ÃÆ'‚ It would help to just list the G code.
> > > > > > > > ÃÆ'Æ'‚ÃÆ'‚
> > > > > > > > All we are using here is the Z axis correct?
> > > > > > > > ÃÆ'Æ'‚ÃÆ'‚
> > > > > > > > Your settings are pretty aggressive with acceleration of 25 in/sec2.ÃÆ'Æ'‚ÃÆ'‚ I calculate to move 0.1 inches will only take 0.12 seconds with infinite Jerk (what Mach3 always uses).ÃÆ'Æ'‚ÃÆ'‚ So that explains why "rapids" with KMotionCNC is slower.ÃÆ'Æ'‚ÃÆ'‚ With Jerk limit it takes about 0.27 seconds.ÃÆ'Æ'‚ÃÆ'‚ I often just enter the numbers into the Step Response Screen to visually see the profile.
> > > > > > > > ÃÆ'Æ'‚ÃÆ'‚
> > > > > > > > But I don't understand why feed moves (infinite Jerk) would be different between Mach3 and KMotionCNC.ÃÆ'Æ'‚ÃÆ'‚ I would capture and plot the data to see which is correct.
> > > > > > > > ÃÆ'Æ'‚ÃÆ'‚
> > > > > > > > Yes by all means wire the encoder back to KFLOP to be able to plot the servo performance.
> > > > > > > > ÃÆ'Æ'‚ÃÆ'‚
> > > > > > > > Regards
> > > > > > > > TKÃÆ'Æ'‚ÃÆ'‚
> > > > > > > >
> > > > > > > > From: himykabibble <jagboy@>
> > > > > > > > To: DynoMotion@yahoogroups.com
> > > > > > > > Sent: Thursday, February 2, 2012 6:12 PM
> > > > > > > > Subject: [DynoMotion] Can You Verify My Settings?
> > > > > > > >
> > > > > > > >
> > > > > > > > ÃÆ'Æ'‚ÃÆ'‚
> > > > > > > > Tom,
> > > > > > > >
> > > > > > > > I tried to actually use my machine with my new app today. The good news is the app did nothing unexpected, and I can tell I will really like the UI once it's a bit more polished. One of the things I added last night was I now output the tool table into my G-code, and the G-code loader in my app now finds it, and pushes it into the interpreter automatically. I will make a tool length database, and hook it into that, so the current tool length settings will be automatically updated each time the program is loaded.
> > > > > > > >
> > > > > > > > However, on the first part I tried to cut today, I found it losing position on the quill when doing peck drilling. This always occurred on the up-move. After digging into this a bit, I came up with a simple test program that does a short feed move down at F30, then a 200 IPM rapid back up to the start position. It just does this over, and over, and over. When I run this with my app, I get *constant* faults on the quill servo (something I've never seen in 3 years with this machine). When I run it under KMotionCNC, with what *should* be the same settings, I get occasional faults. When I run it under Mach3 (still with the KFlop), I get no faults.
> > > > > > > >
> > > > > > > > Why would I get a different result running my app vs KMotionCNC? Or even Mach3 for that matter? I believe the settings are exactly the same, as follows:
> > > > > > > >
> > > > > > > > X/Y Steps/Inch: 20000
> > > > > > > > X/Y Vel: 200 IPM | 66667 counts/sec
> > > > > > > > X/Y Accel: 25 in/sec^2 | 500000counts/sec^2
> > > > > > > > X/Y Jerk: 2E6
> > > > > > > >
> > > > > > > > Z Steps/Inch: 20320
> > > > > > > > Z Vel: 150 IPM/50800 counts/sec
> > > > > > > > Z Accel: 25 in/sec^2 | 508000 counts/sec*2
> > > > > > > > Z Jerk: 2E6
> > > > > > > >
> > > > > > > > A Steps/Inch: 96000
> > > > > > > > A Vel: 50 IPM | 80000
> > > > > > > > A Accel: 5 in/sec^2 | 480000
> > > > > > > > A Jerk: 2E6
> > > > > > > >
> > > > > > > > Any ideas?
> > > > > > > >
> > > > > > > > One significant difference I noted between running with Mach3 and running with KMotion - I changed the program to be a 100IPM feed down to -0.1, then a rapid back up to 0.0. If I run this under Mach3, the quill moves up and down VERY quickly, probably making 2-3 cycles/second. Under KMotionCNC and my app, the time to complete each down and up cycle is probably 2-3X what it is in Mach3 - completing no more than one cycle per second.
> > > > > > > >
> > > > > > > > Regards,
> > > > > > > > Ray L.
> > > > > > > >
> > > > > > >
> > > > > >
> > > > >
> > > >
> > >
> >
>

--- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@...> wrote:
>
> Hi Ray,
>  
> The DefineCS requires spaces not commas as parameter separators.  KFLOP responds with an error message which normally causes the communication to get out of sync and a disconnect.  Not sure why it isn't detecting something wrong under .NET.
>  
> Don't know about the weird Z pulses.  Do you get them with your DSP programs disabled?
>  
> TK
>  
>  
>
> From: himykabibble <jagboy@...>
> To: DynoMotion@yahoogroups.com
> Sent: Friday, February 3, 2012 3:15 PM
> Subject: [DynoMotion] Re: Can You Verify My Settings?
>
>
>  
> Doing DefineCoordSystem() in the DSP works correctly. Doing "WriteLine("DefineCS = 3, 2, 1, 0, -1, -1"); through dotNet in the app does absolutely nothing. The board retains whatever setting was already there.
>
> Swapping the Z and A axis channels with DefineCoordsystem did not alter the problem with the Z axis moving in any way. I don't see how those spurious pulses can be anything but a hardware problem. An RTL bug? Whatever it is, seems like it may factor into the explanation the Z axis acceleration problem.
>
> Regards,
> Ray L.
>
> --- In DynoMotion@yahoogroups.com, "himykabibble" <jagboy@> wrote:
> >
> > Looks like the Gods of Yahoo decided to eat my last message - it never showed up on the forum. I now have two additional problems:
> >
> > 1) DefineCS does not work. Whether I program it in my init, or do it through KMotions console window, no matter what I set, when I do a "DefineCS" in the console window, it ALWAYS returns "0 1 2 3 -1 -1". Also, the help page on CoordMotion makes reference to the "DefineCS6" command, which I assume doesn't actually exist. I was hoping to swap the Z axis with one of the others, and see if problem #2 below follows....
> >
> > 2) While working on the acceleration problem, I happened to notice that every time I move the X, Y or A axis, the Z axis moves slightly. After jogging the X axis between 0.0 and 1.0 about a dozen times, the Z axis was about 1/8" higher than it should be. At the start of ANY move on ANY axis, the Z axis moves (ALWAYS up) a few thou. If I go into KMotion and set the Z axis Step pin (IO12) as an input, the problem goes away completely. I got out my scope, and, sure enough, there is a burst of pulses coming out of IO12 at the start of any move, even when my machine is completely disconnected from the KFlop, leaving only the passive breakout board connected. This is not noise - I am seeing fast-fall, fast-rise, full-amplitude, rail-to-rail pulses, perhaps a few dozen or so. The signal is otherwise quite clean. I swapped in my backup KFlop, and I see exactly the same thing.
> >
> > The hits just keep on comin'....
> >
> > Regards,
> > Ray L.
> >
> > --- In DynoMotion@yahoogroups.com, brad murry <bradodarb@> wrote:
> > >
> > > Debugging in 2010 may or may not be the issue. You need to make sure you are in debug config, your application settings in c# need to allow unmanaged debugging and if you want to debug deeper than the interop you will need to set those c++ projects to mixed mode....
> > >
> > > -Brad Murry
> > > ________________________________
> > > From: himykabibble
> > > Sent: 2/3/2012 12:55 PM
> > > To: DynoMotion@yahoogroups.com
> > > Subject: [DynoMotion] Re: Can You Verify My Settings?
> > >
> > > Brad,
> > >
> > > I've just read back the Interpreter and CoordMotion parameters for all six axes,and they all read back what they should. Where else could this possibly be coming from?
> > >
> > > I've had no luck getting VS2010 Express to let me debug into the DLLs.
> > >
> > > Regards,
> > > Ray L.
> > >
> > > --- In DynoMotion@yahoogroups.com, brad murry <bradodarb@> wrote:
> > > >
> > > > You can check values once you set them, the .net properties do not actually retain data, they merely get and set public members in the c++ code. This means if you set a value and then check it you are reading the values in the underlying libraries. As an added test you can verify values with script commands.
> > > >
> > > > I have played with accels and velocities and it seems to work for me.
> > > >
> > > > -Brad Murry
> > > > ________________________________
> > > > From: Tom Kerekes
> > > > Sent: 2/3/2012 12:11 PM
> > > > To: DynoMotion@yahoogroups.com
> > > > Subject: Re: [DynoMotion] Re: Can You Verify My Settings?
> > > >
> > > > Hi Ray,
> > > >
> > > > I don't see anything wrong. Again the simplest thing would just be to use the debugger to check what Aceleration is actually being used in the Trajectory Planner. If it is wrong, work backwards to find the disconnect. That's the nice thing about having all the source code.
> > > >
> > > > I agree it most likely an issue with the .NET. If you want to post your code I can try to find time to debug it. But I would need everything including the .NET interface you are currently using.
> > > >
> > > > One other possibility might be the feed rate override being set to infinity or something.
> > > >
> > > > Regards
> > > > TK
> > > >
> > > >
> > > >
> > > >
> > > >
> > > > From: himykabibble <jagboy@>
> > > > To: DynoMotion@yahoogroups.com
> > > > Sent: Friday, February 3, 2012 10:25 AM
> > > > Subject: [DynoMotion] Re: Can You Verify My Settings?
> > > >
> > > >
> > > >
> > > > Tom,
> > > >
> > > > I just tried KMotionCNC again, and it is NOT having this problem, which suggests to me I'm either not doing some essential initialization, or there's a bug in dotNet, and it;s not doing the requested initialization correctly. Both my app and KMotionCNC are using the exact same Init.c, so my init code and dotNet appear to me to be the only variables, as the only other thing my app is doing is passing the G-code file to the interpreter.
> > > >
> > > > Am I doing the right init? Am I doing it at the right time???
> > > >
> > > > Kinda smells like the axis parameters are not "taking", since changing acceleration and velocity all over the map makes NO difference in the behavior.
> > > >
> > > > Below is ALL of the init I'm doing in my app, other than loading the Init.c. This is all done when the first connection is established on app startup. If the connection is lost, only Init.c is re-loaded when the connection comes back.
> > > >
> > > > private void InitAxes()
> > > > {
> > > > // Define the axes
> > > > KMAxes = new Dictionary<string, KMotion_dotNet.KM_Axis>();
> > > > KMAxes.Add("XAxis", new KMotion_dotNet.KM_Axis(KMController, 0, "XAxis"));
> > > > KMAxes.Add("YAxis", new KMotion_dotNet.KM_Axis(KMController, 1, "YAxis"));
> > > > KMAxes.Add("ZAxis", new KMotion_dotNet.KM_Axis(KMController, 2, "ZAxis"));
> > > > KMAxes.Add("AAxis", new KMotion_dotNet.KM_Axis(KMController, 3, "AAxis"));
> > > >
> > > > KMController.AxisChannels = KMAxes;
> > > >
> > > > KMController.CoordMotion.Abort();
> > > > KMController.CoordMotion.ClearAbort();
> > > >
> > > > KMController.CoordMotion.MotionParams.CountsPerInchX = StepsPerInchX;
> > > > KMController.CoordMotion.MotionParams.MaxVelX = MaxVelX;
> > > > KMController.CoordMotion.MotionParams.MaxAccelX = AccelX;
> > > > KMController.WriteLine("EnableAxis0");
> > > >
> > > > KMController.CoordMotion.MotionParams.CountsPerInchY = StepsPerInchY;
> > > > KMController.CoordMotion.MotionParams.MaxVelY = MaxVelY;
> > > > KMController.CoordMotion.MotionParams.MaxAccelY = AccelY;
> > > > KMController.WriteLine("EnableAxis1");
> > > >
> > > > KMController.CoordMotion.MotionParams.CountsPerInchZ = StepsPerInchZ;
> > > > KMController.CoordMotion.MotionParams.MaxVelZ = MaxVelZ;
> > > > KMController.CoordMotion.MotionParams.MaxAccelZ = AccelZ;
> > > > KMController.WriteLine("EnableAxis2");
> > > >
> > > > KMController.CoordMotion.MotionParams.CountsPerInchA = StepsPerInchA;
> > > > KMController.CoordMotion.MotionParams.MaxVelA = MaxVelA;
> > > > KMController.CoordMotion.MotionParams.MaxAccelA = AccelA;
> > > > KMController.WriteLine("EnableAxis3");
> > > >
> > > > KMController.WriteLine("DefineCS = 0 1 2 3 -1 -1");
> > > > }
> > > >
> > > > public void InterpreterInit()
> > > > {
> > > > KMController.Interpreter.Interpreter_CoordMotionStraightFeed +=
> > > > new KM_CoordMotionStraightFeedHandler(Interpreter_Interpreter_CoordMotionStraightFeed);
> > > > KMController.Interpreter.Interpreter_CoordMotionStraightTraverse +=
> > > > new KM_CoordMotionStraightTraverseHandler(Interpreter_Interpreter_CoordMotionStraightTraverse);
> > > > KMController.Interpreter.Interpreter_CoordMotionArcFeed +=
> > > > new KM_CoordMotionArcFeedHandler(Interpreter_Interpreter_CoordMotionArcFeed);
> > > > KMController.Interpreter.InterpreterCompleted +=
> > > > new KM_Controller.KM_Interpreter.KM_GCodeInterpreterCompleteHandler(Interpreter_InterpreterCompleted);
> > > > KMController.Interpreter.InterpreterStatusUpdated +=
> > > > new KM_Controller.KM_Interpreter.KM_GCodeInterpreterStatusHandler(Interpreter_InterpreterStatusUpdated);
> > > >
> > > > KMController.Interpreter.MainPathRoot = @"C:\KMotion428";
> > > >
> > > > KMController.Interpreter.CountsPerInchX = StepsPerInchX;
> > > > KMController.Interpreter.MaxVelX = MaxVelX;
> > > > KMController.Interpreter.MaxAccelX = AccelX;
> > > >
> > > > KMController.Interpreter.CountsPerInchY = StepsPerInchY;
> > > > KMController.Interpreter.MaxVelY = MaxVelY;
> > > > KMController.Interpreter.MaxAccelY = AccelY;
> > > >
> > > > KMController.Interpreter.CountsPerInchZ = StepsPerInchZ;
> > > > KMController.Interpreter.MaxVelZ = MaxVelZ;
> > > > KMController.Interpreter.MaxAccelZ = AccelZ;
> > > >
> > > > KMController.Interpreter.CountsPerInchA = StepsPerInchA;
> > > > KMController.Interpreter.MaxVelA = MaxVelA;
> > > > KMController.Interpreter.MaxAccelA = AccelA;
> > > >
> > > > KMController.Interpreter.BreakAngle = 30;
> > > >
> > > > KMController.Interpreter.SetupParams.LengthUnits = KMotion_dotNet.CANON_UNITS.CANON_UNITS_INCHES;
> > > > KMController.Interpreter.SetupParams.X_AxisOffset = 0.0;
> > > > KMController.Interpreter.SetupParams.Y_AxisOffset = 0.0;
> > > > KMController.Interpreter.SetupParams.Z_AxisOffset = 0.0;
> > > >
> > > > KMController.Interpreter.SetupParams.BlockDelete = true;
> > > >
> > > > KMController.Interpreter.SetupParams.RadiusCompSide = KMotion_dotNet.CANON_SIDE.CANON_SIDE_OFF;
> > > > KMController.Interpreter.SetupParams.Cycle_R = 0.0;
> > > > KMController.Interpreter.SetupParams.Cycle_Z = 0.0;
> > > >
> > > > KMController.Interpreter.SetupParams.DistanceMode = KMotion_dotNet.DISTANCE_MODE.MODE_ABSOLUTE;
> > > >
> > > > KMController.Interpreter.SetupParams.FeedMode = 2;
> > > >
> > > > KMController.Interpreter.SetupParams.FloodCoolantOn = false;
> > > > KMController.Interpreter.SetupParams.MistCoolantOn = false;
> > > >
> > > > KMController.Interpreter.SetupParams.CurrentMotionMode = 80;
> > > >
> > > > KMController.Interpreter.SetupParams.WorkPlane = KMotion_dotNet.CANON_PLANE.CANON_PLANE_XY;
> > > >
> > > > KMController.Interpreter.SetupParams.ToolLengthOffsetIndex = 1;
> > > > KMController.Interpreter.SetupParams.RadiusComp = 1;
> > > >
> > > > KMController.Interpreter.SetupParams.SelectedToolSlot = 1;
> > > > KMController.Interpreter.SetupParams.TraverseSpeed = 200;
> > > > KMController.Interpreter.SetupParams.SpindleDirection = KMotion_dotNet.CANON_DIRECTION.CANON_STOPPED;
> > > > KMController.Interpreter.SetupParams.ToolLengthOffset = 0.0;
> > > >
> > > > KMController.Interpreter.SetMcodeAction(3, MCODE_TYPE.M_Action_SetTwoBits, 27, 1, 28, 0, 0, "SpindleCW");
> > > > KMController.Interpreter.SetMcodeAction(4, MCODE_TYPE.M_Action_SetTwoBits, 27, 0, 28, 1, 0, "SpindleCCW");
> > > > KMController.Interpreter.SetMcodeAction(5, MCODE_TYPE.M_Action_SetTwoBits, 27, 0, 28, 0, 0, "SpindleOff");
> > > > KMController.Interpreter.SetMcodeAction(7, MCODE_TYPE.M_Action_Setbit, 3, 1, 0, 0, 0, "MistOn");
> > > > KMController.Interpreter.SetMcodeAction(8, MCODE_TYPE.M_Action_Setbit, 4, 1, 0, 0, 0, "FloodOn");
> > > > KMController.Interpreter.SetMcodeAction(9, MCODE_TYPE.M_Action_SetTwoBits, 3, 0, 4, 0, 0, "CoolantOff");
> > > > KMController.Interpreter.SetMcodeAction(10, MCODE_TYPE.M_Action_Program, 2, 4, 0, 0, 0, @"C:\My KFlop C Programs\KMotionCNC\KMotionCNCSpindlePWM.c");
> > > > KMController.Interpreter.SetMcodeAction(21, MCODE_TYPE.M_Action_Program, 4, 10, 28, 0, 0, @"C:\My KFlop C Programs\KMotionCNC\KMotionCNCMCodeHandler.c");
> > > >
> > > > KMController.Interpreter.InitializeOnExecute = false;
> > > > KMController.Interpreter.InitializeInterpreter();
> > > >
> > > > InterpreterInitialized = true;
> > > >
> > > > RunCommand(@"C:\KMotion428\GCode Programs\Init.nc", "G20 F0 S0 G54", true);
> > > >
> > > > while (InterpreterIsRunning)
> > > > ;
> > > > }
> > > >
> > > > Regards,
> > > > Ray L.
> > > >
> > > > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > > > >
> > > > > Hi Ray,
> > > > > ÃÆ'‚
> > > > > Sounds like a bug.ÃÆ'‚ Is that from your code?ÃÆ'‚ Maybe some parameter is not being set?ÃÆ'‚ You will probably have to step into the code to figure it out.ÃÆ'‚ Otherwise capture the output motion to see what the really acceleration is.
> > > > > ÃÆ'‚
> > > > > Which connectors are you using.ÃÆ'‚ You can multiplex the encoder inputs to JP4 and JP6 if that helps.
> > > > > ÃÆ'‚
> > > > > Regards
> > > > > TK
> > > > >
> > > > >
> > > > > ________________________________
> > > > > From: himykabibble <jagboy@>
> > > > > To: DynoMotion@yahoogroups.com
> > > > > Sent: Friday, February 3, 2012 9:14 AM
> > > > > Subject: [DynoMotion] Re: Can You Verify My Settings?
> > > > >
> > > > >
> > > > > ÃÆ'‚
> > > > > Just a little more data:
> > > > >
> > > > > I increased velocity to 200 IPM (67733), acceleration to 35 in/sec^2 (700000), and jerk to 2E12, and I get VERY rare faults when running G0s - perhaps one every few hundred cycles. This is perfectly consistent with what I saw when I first setup the system with Mach3. With the 5X reduced settings in my previous post, I still get CONSTANT faults running G1s, even with the Feedrate specified as only 15 IPM. Why is the response to G1s so radically different from G0s?
> > > > >
> > > > > Unfortunately, no easy way to wire encoders in, as I'm using the encoder pins for other things, and I'm not keen on re-wiring just now. But, it seems to me the fact that I can run such aggressive parameters with G0s indicates the servo tuning is not all that far from optimal.
> > > > >
> > > > > Regards,
> > > > > Ray L.
> > > > >
> > > > > --- In DynoMotion@yahoogroups.com, "himykabibble" <jagboy@> wrote:
> > > > > >
> > > > > > Tom,
> > > > > >
> > > > > > I'm stumped here.... If I do:
> > > > > >
> > > > > > G00 Z-0.5
> > > > > > G00 Z0.0
> > > > > >
> > > > > > with acceleration at 25in/sec^2, jerk at 20E6, it will run HUNDREDS of cycles, never skipping a beat. I have . But, if I do:
> > > > > >
> > > > > > G01 Z-0.5 F150
> > > > > > G01 Z0.0
> > > > > >
> > > > > > even with acceleration reduced by a factor of 5 (to 5in/sec^2), and jerk reduced to 2E5, it faults the servo on EVERY move, and the axis never moves! What is going on here?
> > > > > >
> > > > > > This is the same behavior I've been seeing on my knee - where G0s work perfectly, but when I try to jog with the pendant, I can very easily get faults, even at very low speeds. None of the axes on this machine have ever faulted in the past, unless I ran them into an immovable object.
> > > > > >
> > > > > > Regards,
> > > > > > Ray L.
> > > > > >
> > > > > > --- In DynoMotion@yahoogroups.com, "himykabibble" <jagboy@> wrote:
> > > > > > >
> > > > > > > Tom,
> > > > > > >
> > > > > > > The code is the following two lines repeated many time:
> > > > > > >
> > > > > > > G01 Z-0.1 F30
> > > > > > > G00 Z0.0
> > > > > > >
> > > > > > > The velocity and acceleration settings are what I've been using ever since I built the machine over 3 years ago. Never a problem. In fact, it's capable of more, it's just too scary to crank things up any higher.
> > > > > > >
> > > > > > > Can you explain why KMotionCNC would behave differently from my app? That's the one that really makes no sense to me. I can accept that the servo tuning is not perfect (though it's worked perfectly all these years), but I can't understand why KMotionCNC would not exactly duplicate what my app does, unless the settings in my program are wrong.
> > > > > > >
> > > > > > > Regards,
> > > > > > > Ray L.
> > > > > > >
> > > > > > > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > > > > > > >
> > > > > > > > Hi Ray,
> > > > > > > > ÃÆ'Æ'‚ÃÆ'‚
> > > > > > > > When you say "200ÃÆ'Æ'‚ÃÆ'‚ IPM rapid back up" I assume youÃÆ'Æ'‚ÃÆ'‚ didn't mean to say "rapid" as in G0?ÃÆ'Æ'‚ÃÆ'‚ It would help to just list the G code.
> > > > > > > > ÃÆ'Æ'‚ÃÆ'‚
> > > > > > > > All we are using here is the Z axis correct?
> > > > > > > > ÃÆ'Æ'‚ÃÆ'‚
> > > > > > > > Your settings are pretty aggressive with acceleration of 25 in/sec2.ÃÆ'Æ'‚ÃÆ'‚ I calculate to move 0.1 inches will only take 0.12 seconds with infinite Jerk (what Mach3 always uses).ÃÆ'Æ'‚ÃÆ'‚ So that explains why "rapids" with KMotionCNC is slower.ÃÆ'Æ'‚ÃÆ'‚ With Jerk limit it takes about 0.27 seconds.ÃÆ'Æ'‚ÃÆ'‚ I often just enter the numbers into the Step Response Screen to visually see the profile.
> > > > > > > > ÃÆ'Æ'‚ÃÆ'‚
> > > > > > > > But I don't understand why feed moves (infinite Jerk) would be different between Mach3 and KMotionCNC.ÃÆ'Æ'‚ÃÆ'‚ I would capture and plot the data to see which is correct.
> > > > > > > > ÃÆ'Æ'‚ÃÆ'‚
> > > > > > > > Yes by all means wire the encoder back to KFLOP to be able to plot the servo performance.
> > > > > > > > ÃÆ'Æ'‚ÃÆ'‚
> > > > > > > > Regards
> > > > > > > > TKÃÆ'Æ'‚ÃÆ'‚
> > > > > > > >
> > > > > > > > From: himykabibble <jagboy@>
> > > > > > > > To: DynoMotion@yahoogroups.com
> > > > > > > > Sent: Thursday, February 2, 2012 6:12 PM
> > > > > > > > Subject: [DynoMotion] Can You Verify My Settings?
> > > > > > > >
> > > > > > > >
> > > > > > > > ÃÆ'Æ'‚ÃÆ'‚
> > > > > > > > Tom,
> > > > > > > >
> > > > > > > > I tried to actually use my machine with my new app today. The good news is the app did nothing unexpected, and I can tell I will really like the UI once it's a bit more polished. One of the things I added last night was I now output the tool table into my G-code, and the G-code loader in my app now finds it, and pushes it into the interpreter automatically. I will make a tool length database, and hook it into that, so the current tool length settings will be automatically updated each time the program is loaded.
> > > > > > > >
> > > > > > > > However, on the first part I tried to cut today, I found it losing position on the quill when doing peck drilling. This always occurred on the up-move. After digging into this a bit, I came up with a simple test program that does a short feed move down at F30, then a 200 IPM rapid back up to the start position. It just does this over, and over, and over. When I run this with my app, I get *constant* faults on the quill servo (something I've never seen in 3 years with this machine). When I run it under KMotionCNC, with what *should* be the same settings, I get occasional faults. When I run it under Mach3 (still with the KFlop), I get no faults.
> > > > > > > >
> > > > > > > > Why would I get a different result running my app vs KMotionCNC? Or even Mach3 for that matter? I believe the settings are exactly the same, as follows:
> > > > > > > >
> > > > > > > > X/Y Steps/Inch: 20000
> > > > > > > > X/Y Vel: 200 IPM | 66667 counts/sec
> > > > > > > > X/Y Accel: 25 in/sec^2 | 500000counts/sec^2
> > > > > > > > X/Y Jerk: 2E6
> > > > > > > >
> > > > > > > > Z Steps/Inch: 20320
> > > > > > > > Z Vel: 150 IPM/50800 counts/sec
> > > > > > > > Z Accel: 25 in/sec^2 | 508000 counts/sec*2
> > > > > > > > Z Jerk: 2E6
> > > > > > > >
> > > > > > > > A Steps/Inch: 96000
> > > > > > > > A Vel: 50 IPM | 80000
> > > > > > > > A Accel: 5 in/sec^2 | 480000
> > > > > > > > A Jerk: 2E6
> > > > > > > >
> > > > > > > > Any ideas?
> > > > > > > >
> > > > > > > > One significant difference I noted between running with Mach3 and running with KMotion - I changed the program to be a 100IPM feed down to -0.1, then a rapid back up to 0.0. If I run this under Mach3, the quill moves up and down VERY quickly, probably making 2-3 cycles/second. Under KMotionCNC and my app, the time to complete each down and up cycle is probably 2-3X what it is in Mach3 - completing no more than one cycle per second.
> > > > > > > >
> > > > > > > > Regards,
> > > > > > > > Ray L.
> > > > > > > >
> > > > > > >
> > > > > >
> > > > >
> > > >
> > >
> >
>

--- In DynoMotion@yahoogroups.com, brad murry <bradodarb@...> wrote:
>
> Debugging in 2010 may or may not be the issue. You need to make sure you are in debug config, your application settings in c# need to allow unmanaged debugging and if you want to debug deeper than the interop you will need to set those c++ projects to mixed mode....
>
> -Brad Murry
> ________________________________
> From: himykabibble
> Sent: 2/3/2012 12:55 PM
> To: DynoMotion@yahoogroups.com
> Subject: [DynoMotion] Re: Can You Verify My Settings?
>
> Brad,
>
> I've just read back the Interpreter and CoordMotion parameters for all six axes,and they all read back what they should. Where else could this possibly be coming from?
>
> I've had no luck getting VS2010 Express to let me debug into the DLLs.
>
> Regards,
> Ray L.
>
> --- In DynoMotion@yahoogroups.com, brad murry <bradodarb@> wrote:
> >
> > You can check values once you set them, the .net properties do not actually retain data, they merely get and set public members in the c++ code. This means if you set a value and then check it you are reading the values in the underlying libraries. As an added test you can verify values with script commands.
> >
> > I have played with accels and velocities and it seems to work for me.
> >
> > -Brad Murry
> > ________________________________
> > From: Tom Kerekes
> > Sent: 2/3/2012 12:11 PM
> > To: DynoMotion@yahoogroups.com
> > Subject: Re: [DynoMotion] Re: Can You Verify My Settings?
> >
> > Hi Ray,
> >
> > I don't see anything wrong. Again the simplest thing would just be to use the debugger to check what Aceleration is actually being used in the Trajectory Planner. If it is wrong, work backwards to find the disconnect. That's the nice thing about having all the source code.
> >
> > I agree it most likely an issue with the .NET. If you want to post your code I can try to find time to debug it. But I would need everything including the .NET interface you are currently using.
> >
> > One other possibility might be the feed rate override being set to infinity or something.
> >
> > Regards
> > TK
> >
> >
> >
> >
> >
> > From: himykabibble <jagboy@>
> > To: DynoMotion@yahoogroups.com
> > Sent: Friday, February 3, 2012 10:25 AM
> > Subject: [DynoMotion] Re: Can You Verify My Settings?
> >
> >
> >
> > Tom,
> >
> > I just tried KMotionCNC again, and it is NOT having this problem, which suggests to me I'm either not doing some essential initialization, or there's a bug in dotNet, and it;s not doing the requested initialization correctly. Both my app and KMotionCNC are using the exact same Init.c, so my init code and dotNet appear to me to be the only variables, as the only other thing my app is doing is passing the G-code file to the interpreter.
> >
> > Am I doing the right init? Am I doing it at the right time???
> >
> > Kinda smells like the axis parameters are not "taking", since changing acceleration and velocity all over the map makes NO difference in the behavior.
> >
> > Below is ALL of the init I'm doing in my app, other than loading the Init.c. This is all done when the first connection is established on app startup. If the connection is lost, only Init.c is re-loaded when the connection comes back.
> >
> > private void InitAxes()
> > {
> > // Define the axes
> > KMAxes = new Dictionary<string, KMotion_dotNet.KM_Axis>();
> > KMAxes.Add("XAxis", new KMotion_dotNet.KM_Axis(KMController, 0, "XAxis"));
> > KMAxes.Add("YAxis", new KMotion_dotNet.KM_Axis(KMController, 1, "YAxis"));
> > KMAxes.Add("ZAxis", new KMotion_dotNet.KM_Axis(KMController, 2, "ZAxis"));
> > KMAxes.Add("AAxis", new KMotion_dotNet.KM_Axis(KMController, 3, "AAxis"));
> >
> > KMController.AxisChannels = KMAxes;
> >
> > KMController.CoordMotion.Abort();
> > KMController.CoordMotion.ClearAbort();
> >
> > KMController.CoordMotion.MotionParams.CountsPerInchX = StepsPerInchX;
> > KMController.CoordMotion.MotionParams.MaxVelX = MaxVelX;
> > KMController.CoordMotion.MotionParams.MaxAccelX = AccelX;
> > KMController.WriteLine("EnableAxis0");
> >
> > KMController.CoordMotion.MotionParams.CountsPerInchY = StepsPerInchY;
> > KMController.CoordMotion.MotionParams.MaxVelY = MaxVelY;
> > KMController.CoordMotion.MotionParams.MaxAccelY = AccelY;
> > KMController.WriteLine("EnableAxis1");
> >
> > KMController.CoordMotion.MotionParams.CountsPerInchZ = StepsPerInchZ;
> > KMController.CoordMotion.MotionParams.MaxVelZ = MaxVelZ;
> > KMController.CoordMotion.MotionParams.MaxAccelZ = AccelZ;
> > KMController.WriteLine("EnableAxis2");
> >
> > KMController.CoordMotion.MotionParams.CountsPerInchA = StepsPerInchA;
> > KMController.CoordMotion.MotionParams.MaxVelA = MaxVelA;
> > KMController.CoordMotion.MotionParams.MaxAccelA = AccelA;
> > KMController.WriteLine("EnableAxis3");
> >
> > KMController.WriteLine("DefineCS = 0 1 2 3 -1 -1");
> > }
> >
> > public void InterpreterInit()
> > {
> > KMController.Interpreter.Interpreter_CoordMotionStraightFeed +=
> > new KM_CoordMotionStraightFeedHandler(Interpreter_Interpreter_CoordMotionStraightFeed);
> > KMController.Interpreter.Interpreter_CoordMotionStraightTraverse +=
> > new KM_CoordMotionStraightTraverseHandler(Interpreter_Interpreter_CoordMotionStraightTraverse);
> > KMController.Interpreter.Interpreter_CoordMotionArcFeed +=
> > new KM_CoordMotionArcFeedHandler(Interpreter_Interpreter_CoordMotionArcFeed);
> > KMController.Interpreter.InterpreterCompleted +=
> > new KM_Controller.KM_Interpreter.KM_GCodeInterpreterCompleteHandler(Interpreter_InterpreterCompleted);
> > KMController.Interpreter.InterpreterStatusUpdated +=
> > new KM_Controller.KM_Interpreter.KM_GCodeInterpreterStatusHandler(Interpreter_InterpreterStatusUpdated);
> >
> > KMController.Interpreter.MainPathRoot = @"C:\KMotion428";
> >
> > KMController.Interpreter.CountsPerInchX = StepsPerInchX;
> > KMController.Interpreter.MaxVelX = MaxVelX;
> > KMController.Interpreter.MaxAccelX = AccelX;
> >
> > KMController.Interpreter.CountsPerInchY = StepsPerInchY;
> > KMController.Interpreter.MaxVelY = MaxVelY;
> > KMController.Interpreter.MaxAccelY = AccelY;
> >
> > KMController.Interpreter.CountsPerInchZ = StepsPerInchZ;
> > KMController.Interpreter.MaxVelZ = MaxVelZ;
> > KMController.Interpreter.MaxAccelZ = AccelZ;
> >
> > KMController.Interpreter.CountsPerInchA = StepsPerInchA;
> > KMController.Interpreter.MaxVelA = MaxVelA;
> > KMController.Interpreter.MaxAccelA = AccelA;
> >
> > KMController.Interpreter.BreakAngle = 30;
> >
> > KMController.Interpreter.SetupParams.LengthUnits = KMotion_dotNet.CANON_UNITS.CANON_UNITS_INCHES;
> > KMController.Interpreter.SetupParams.X_AxisOffset = 0.0;
> > KMController.Interpreter.SetupParams.Y_AxisOffset = 0.0;
> > KMController.Interpreter.SetupParams.Z_AxisOffset = 0.0;
> >
> > KMController.Interpreter.SetupParams.BlockDelete = true;
> >
> > KMController.Interpreter.SetupParams.RadiusCompSide = KMotion_dotNet.CANON_SIDE.CANON_SIDE_OFF;
> > KMController.Interpreter.SetupParams.Cycle_R = 0.0;
> > KMController.Interpreter.SetupParams.Cycle_Z = 0.0;
> >
> > KMController.Interpreter.SetupParams.DistanceMode = KMotion_dotNet.DISTANCE_MODE.MODE_ABSOLUTE;
> >
> > KMController.Interpreter.SetupParams.FeedMode = 2;
> >
> > KMController.Interpreter.SetupParams.FloodCoolantOn = false;
> > KMController.Interpreter.SetupParams.MistCoolantOn = false;
> >
> > KMController.Interpreter.SetupParams.CurrentMotionMode = 80;
> >
> > KMController.Interpreter.SetupParams.WorkPlane = KMotion_dotNet.CANON_PLANE.CANON_PLANE_XY;
> >
> > KMController.Interpreter.SetupParams.ToolLengthOffsetIndex = 1;
> > KMController.Interpreter.SetupParams.RadiusComp = 1;
> >
> > KMController.Interpreter.SetupParams.SelectedToolSlot = 1;
> > KMController.Interpreter.SetupParams.TraverseSpeed = 200;
> > KMController.Interpreter.SetupParams.SpindleDirection = KMotion_dotNet.CANON_DIRECTION.CANON_STOPPED;
> > KMController.Interpreter.SetupParams.ToolLengthOffset = 0.0;
> >
> > KMController.Interpreter.SetMcodeAction(3, MCODE_TYPE.M_Action_SetTwoBits, 27, 1, 28, 0, 0, "SpindleCW");
> > KMController.Interpreter.SetMcodeAction(4, MCODE_TYPE.M_Action_SetTwoBits, 27, 0, 28, 1, 0, "SpindleCCW");
> > KMController.Interpreter.SetMcodeAction(5, MCODE_TYPE.M_Action_SetTwoBits, 27, 0, 28, 0, 0, "SpindleOff");
> > KMController.Interpreter.SetMcodeAction(7, MCODE_TYPE.M_Action_Setbit, 3, 1, 0, 0, 0, "MistOn");
> > KMController.Interpreter.SetMcodeAction(8, MCODE_TYPE.M_Action_Setbit, 4, 1, 0, 0, 0, "FloodOn");
> > KMController.Interpreter.SetMcodeAction(9, MCODE_TYPE.M_Action_SetTwoBits, 3, 0, 4, 0, 0, "CoolantOff");
> > KMController.Interpreter.SetMcodeAction(10, MCODE_TYPE.M_Action_Program, 2, 4, 0, 0, 0, @"C:\My KFlop C Programs\KMotionCNC\KMotionCNCSpindlePWM.c");
> > KMController.Interpreter.SetMcodeAction(21, MCODE_TYPE.M_Action_Program, 4, 10, 28, 0, 0, @"C:\My KFlop C Programs\KMotionCNC\KMotionCNCMCodeHandler.c");
> >
> > KMController.Interpreter.InitializeOnExecute = false;
> > KMController.Interpreter.InitializeInterpreter();
> >
> > InterpreterInitialized = true;
> >
> > RunCommand(@"C:\KMotion428\GCode Programs\Init.nc", "G20 F0 S0 G54", true);
> >
> > while (InterpreterIsRunning)
> > ;
> > }
> >
> > Regards,
> > Ray L.
> >
> > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > >
> > > Hi Ray,
> > > Â
> > > Sounds like a bug. Is that from your code? Maybe some parameter is not being set? You will probably have to step into the code to figure it out. Otherwise capture the output motion to see what the really acceleration is.
> > > Â
> > > Which connectors are you using. You can multiplex the encoder inputs to JP4 and JP6 if that helps.
> > > Â
> > > Regards
> > > TK
> > >
> > >
> > > ________________________________
> > > From: himykabibble <jagboy@>
> > > To: DynoMotion@yahoogroups.com
> > > Sent: Friday, February 3, 2012 9:14 AM
> > > Subject: [DynoMotion] Re: Can You Verify My Settings?
> > >
> > >
> > > Â
> > > Just a little more data:
> > >
> > > I increased velocity to 200 IPM (67733), acceleration to 35 in/sec^2 (700000), and jerk to 2E12, and I get VERY rare faults when running G0s - perhaps one every few hundred cycles. This is perfectly consistent with what I saw when I first setup the system with Mach3. With the 5X reduced settings in my previous post, I still get CONSTANT faults running G1s, even with the Feedrate specified as only 15 IPM. Why is the response to G1s so radically different from G0s?
> > >
> > > Unfortunately, no easy way to wire encoders in, as I'm using the encoder pins for other things, and I'm not keen on re-wiring just now. But, it seems to me the fact that I can run such aggressive parameters with G0s indicates the servo tuning is not all that far from optimal.
> > >
> > > Regards,
> > > Ray L.
> > >
> > > --- In DynoMotion@yahoogroups.com, "himykabibble" <jagboy@> wrote:
> > > >
> > > > Tom,
> > > >
> > > > I'm stumped here.... If I do:
> > > >
> > > > G00 Z-0.5
> > > > G00 Z0.0
> > > >
> > > > with acceleration at 25in/sec^2, jerk at 20E6, it will run HUNDREDS of cycles, never skipping a beat. I have . But, if I do:
> > > >
> > > > G01 Z-0.5 F150
> > > > G01 Z0.0
> > > >
> > > > even with acceleration reduced by a factor of 5 (to 5in/sec^2), and jerk reduced to 2E5, it faults the servo on EVERY move, and the axis never moves! What is going on here?
> > > >
> > > > This is the same behavior I've been seeing on my knee - where G0s work perfectly, but when I try to jog with the pendant, I can very easily get faults, even at very low speeds. None of the axes on this machine have ever faulted in the past, unless I ran them into an immovable object.
> > > >
> > > > Regards,
> > > > Ray L.
> > > >
> > > > --- In DynoMotion@yahoogroups.com, "himykabibble" <jagboy@> wrote:
> > > > >
> > > > > Tom,
> > > > >
> > > > > The code is the following two lines repeated many time:
> > > > >
> > > > > G01 Z-0.1 F30
> > > > > G00 Z0.0
> > > > >
> > > > > The velocity and acceleration settings are what I've been using ever since I built the machine over 3 years ago. Never a problem. In fact, it's capable of more, it's just too scary to crank things up any higher.
> > > > >
> > > > > Can you explain why KMotionCNC would behave differently from my app? That's the one that really makes no sense to me. I can accept that the servo tuning is not perfect (though it's worked perfectly all these years), but I can't understand why KMotionCNC would not exactly duplicate what my app does, unless the settings in my program are wrong.
> > > > >
> > > > > Regards,
> > > > > Ray L.
> > > > >
> > > > > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > > > > >
> > > > > > Hi Ray,
> > > > > > ÃÆ'‚Â
> > > > > > When you say "200ÃÆ'‚Â IPM rapid back up" I assume youÃÆ'‚Â didn't mean to say "rapid" as in G0?ÃÆ'‚Â It would help to just list the G code.
> > > > > > ÃÆ'‚Â
> > > > > > All we are using here is the Z axis correct?
> > > > > > ÃÆ'‚Â
> > > > > > Your settings are pretty aggressive with acceleration of 25 in/sec2.ÃÆ'‚Â I calculate to move 0.1 inches will only take 0.12 seconds with infinite Jerk (what Mach3 always uses).ÃÆ'‚Â So that explains why "rapids" with KMotionCNC is slower.ÃÆ'‚Â With Jerk limit it takes about 0.27 seconds.ÃÆ'‚Â I often just enter the numbers into the Step Response Screen to visually see the profile.
> > > > > > ÃÆ'‚Â
> > > > > > But I don't understand why feed moves (infinite Jerk) would be different between Mach3 and KMotionCNC.ÃÆ'‚Â I would capture and plot the data to see which is correct.
> > > > > > ÃÆ'‚Â
> > > > > > Yes by all means wire the encoder back to KFLOP to be able to plot the servo performance.
> > > > > > ÃÆ'‚Â
> > > > > > Regards
> > > > > > TKÃÆ'‚Â
> > > > > >
> > > > > > From: himykabibble <jagboy@>
> > > > > > To: DynoMotion@yahoogroups.com
> > > > > > Sent: Thursday, February 2, 2012 6:12 PM
> > > > > > Subject: [DynoMotion] Can You Verify My Settings?
> > > > > >
> > > > > >
> > > > > > ÃÆ'‚Â
> > > > > > Tom,
> > > > > >
> > > > > > I tried to actually use my machine with my new app today. The good news is the app did nothing unexpected, and I can tell I will really like the UI once it's a bit more polished. One of the things I added last night was I now output the tool table into my G-code, and the G-code loader in my app now finds it, and pushes it into the interpreter automatically. I will make a tool length database, and hook it into that, so the current tool length settings will be automatically updated each time the program is loaded.
> > > > > >
> > > > > > However, on the first part I tried to cut today, I found it losing position on the quill when doing peck drilling. This always occurred on the up-move. After digging into this a bit, I came up with a simple test program that does a short feed move down at F30, then a 200 IPM rapid back up to the start position. It just does this over, and over, and over. When I run this with my app, I get *constant* faults on the quill servo (something I've never seen in 3 years with this machine). When I run it under KMotionCNC, with what *should* be the same settings, I get occasional faults. When I run it under Mach3 (still with the KFlop), I get no faults.
> > > > > >
> > > > > > Why would I get a different result running my app vs KMotionCNC? Or even Mach3 for that matter? I believe the settings are exactly the same, as follows:
> > > > > >
> > > > > > X/Y Steps/Inch: 20000
> > > > > > X/Y Vel: 200 IPM | 66667 counts/sec
> > > > > > X/Y Accel: 25 in/sec^2 | 500000counts/sec^2
> > > > > > X/Y Jerk: 2E6
> > > > > >
> > > > > > Z Steps/Inch: 20320
> > > > > > Z Vel: 150 IPM/50800 counts/sec
> > > > > > Z Accel: 25 in/sec^2 | 508000 counts/sec*2
> > > > > > Z Jerk: 2E6
> > > > > >
> > > > > > A Steps/Inch: 96000
> > > > > > A Vel: 50 IPM | 80000
> > > > > > A Accel: 5 in/sec^2 | 480000
> > > > > > A Jerk: 2E6
> > > > > >
> > > > > > Any ideas?
> > > > > >
> > > > > > One significant difference I noted between running with Mach3 and running with KMotion - I changed the program to be a 100IPM feed down to -0.1, then a rapid back up to 0.0. If I run this under Mach3, the quill moves up and down VERY quickly, probably making 2-3 cycles/second. Under KMotionCNC and my app, the time to complete each down and up cycle is probably 2-3X what it is in Mach3 - completing no more than one cycle per second.
> > > > > >
> > > > > > Regards,
> > > > > > Ray L.
> > > > > >
> > > > >
> > > >
> > >
> >
>

--- In DynoMotion@yahoogroups.com, "himykabibble" <jagboy@...> wrote:
>
> Brad,
>
> "you will need to set those c++ projects to mixed mode...." - Where/how do you do this? Is it a build config setting? Will I be able to debug down into the guts of the DLLs even though they are built with VS2008, and my app is built with VS2010? I've been unsuccessful in moving my app to VS2008 - it doesn't seem to want to play nice with .NET4, only 3.5.
>
> Regards,
> Ray L.
>
> --- In DynoMotion@yahoogroups.com, brad murry <bradodarb@> wrote:
> >
> > Debugging in 2010 may or may not be the issue. You need to make sure you are in debug config, your application settings in c# need to allow unmanaged debugging and if you want to debug deeper than the interop you will need to set those c++ projects to mixed mode....
> >
> > -Brad Murry
> > ________________________________
> > From: himykabibble
> > Sent: 2/3/2012 12:55 PM
> > To: DynoMotion@yahoogroups.com
> > Subject: [DynoMotion] Re: Can You Verify My Settings?
> >
> > Brad,
> >
> > I've just read back the Interpreter and CoordMotion parameters for all six axes,and they all read back what they should. Where else could this possibly be coming from?
> >
> > I've had no luck getting VS2010 Express to let me debug into the DLLs.
> >
> > Regards,
> > Ray L.
> >
> > --- In DynoMotion@yahoogroups.com, brad murry <bradodarb@> wrote:
> > >
> > > You can check values once you set them, the .net properties do not actually retain data, they merely get and set public members in the c++ code. This means if you set a value and then check it you are reading the values in the underlying libraries. As an added test you can verify values with script commands.
> > >
> > > I have played with accels and velocities and it seems to work for me.
> > >
> > > -Brad Murry
> > > ________________________________
> > > From: Tom Kerekes
> > > Sent: 2/3/2012 12:11 PM
> > > To: DynoMotion@yahoogroups.com
> > > Subject: Re: [DynoMotion] Re: Can You Verify My Settings?
> > >
> > > Hi Ray,
> > >
> > > I don't see anything wrong. Again the simplest thing would just be to use the debugger to check what Aceleration is actually being used in the Trajectory Planner. If it is wrong, work backwards to find the disconnect. That's the nice thing about having all the source code.
> > >
> > > I agree it most likely an issue with the .NET. If you want to post your code I can try to find time to debug it. But I would need everything including the .NET interface you are currently using.
> > >
> > > One other possibility might be the feed rate override being set to infinity or something.
> > >
> > > Regards
> > > TK
> > >
> > >
> > >
> > >
> > >
> > > From: himykabibble <jagboy@>
> > > To: DynoMotion@yahoogroups.com
> > > Sent: Friday, February 3, 2012 10:25 AM
> > > Subject: [DynoMotion] Re: Can You Verify My Settings?
> > >
> > >
> > >
> > > Tom,
> > >
> > > I just tried KMotionCNC again, and it is NOT having this problem, which suggests to me I'm either not doing some essential initialization, or there's a bug in dotNet, and it;s not doing the requested initialization correctly. Both my app and KMotionCNC are using the exact same Init.c, so my init code and dotNet appear to me to be the only variables, as the only other thing my app is doing is passing the G-code file to the interpreter.
> > >
> > > Am I doing the right init? Am I doing it at the right time???
> > >
> > > Kinda smells like the axis parameters are not "taking", since changing acceleration and velocity all over the map makes NO difference in the behavior.
> > >
> > > Below is ALL of the init I'm doing in my app, other than loading the Init.c. This is all done when the first connection is established on app startup. If the connection is lost, only Init.c is re-loaded when the connection comes back.
> > >
> > > private void InitAxes()
> > > {
> > > // Define the axes
> > > KMAxes = new Dictionary<string, KMotion_dotNet.KM_Axis>();
> > > KMAxes.Add("XAxis", new KMotion_dotNet.KM_Axis(KMController, 0, "XAxis"));
> > > KMAxes.Add("YAxis", new KMotion_dotNet.KM_Axis(KMController, 1, "YAxis"));
> > > KMAxes.Add("ZAxis", new KMotion_dotNet.KM_Axis(KMController, 2, "ZAxis"));
> > > KMAxes.Add("AAxis", new KMotion_dotNet.KM_Axis(KMController, 3, "AAxis"));
> > >
> > > KMController.AxisChannels = KMAxes;
> > >
> > > KMController.CoordMotion.Abort();
> > > KMController.CoordMotion.ClearAbort();
> > >
> > > KMController.CoordMotion.MotionParams.CountsPerInchX = StepsPerInchX;
> > > KMController.CoordMotion.MotionParams.MaxVelX = MaxVelX;
> > > KMController.CoordMotion.MotionParams.MaxAccelX = AccelX;
> > > KMController.WriteLine("EnableAxis0");
> > >
> > > KMController.CoordMotion.MotionParams.CountsPerInchY = StepsPerInchY;
> > > KMController.CoordMotion.MotionParams.MaxVelY = MaxVelY;
> > > KMController.CoordMotion.MotionParams.MaxAccelY = AccelY;
> > > KMController.WriteLine("EnableAxis1");
> > >
> > > KMController.CoordMotion.MotionParams.CountsPerInchZ = StepsPerInchZ;
> > > KMController.CoordMotion.MotionParams.MaxVelZ = MaxVelZ;
> > > KMController.CoordMotion.MotionParams.MaxAccelZ = AccelZ;
> > > KMController.WriteLine("EnableAxis2");
> > >
> > > KMController.CoordMotion.MotionParams.CountsPerInchA = StepsPerInchA;
> > > KMController.CoordMotion.MotionParams.MaxVelA = MaxVelA;
> > > KMController.CoordMotion.MotionParams.MaxAccelA = AccelA;
> > > KMController.WriteLine("EnableAxis3");
> > >
> > > KMController.WriteLine("DefineCS = 0 1 2 3 -1 -1");
> > > }
> > >
> > > public void InterpreterInit()
> > > {
> > > KMController.Interpreter.Interpreter_CoordMotionStraightFeed +=
> > > new KM_CoordMotionStraightFeedHandler(Interpreter_Interpreter_CoordMotionStraightFeed);
> > > KMController.Interpreter.Interpreter_CoordMotionStraightTraverse +=
> > > new KM_CoordMotionStraightTraverseHandler(Interpreter_Interpreter_CoordMotionStraightTraverse);
> > > KMController.Interpreter.Interpreter_CoordMotionArcFeed +=
> > > new KM_CoordMotionArcFeedHandler(Interpreter_Interpreter_CoordMotionArcFeed);
> > > KMController.Interpreter.InterpreterCompleted +=
> > > new KM_Controller.KM_Interpreter.KM_GCodeInterpreterCompleteHandler(Interpreter_InterpreterCompleted);
> > > KMController.Interpreter.InterpreterStatusUpdated +=
> > > new KM_Controller.KM_Interpreter.KM_GCodeInterpreterStatusHandler(Interpreter_InterpreterStatusUpdated);
> > >
> > > KMController.Interpreter.MainPathRoot = @"C:\KMotion428";
> > >
> > > KMController.Interpreter.CountsPerInchX = StepsPerInchX;
> > > KMController.Interpreter.MaxVelX = MaxVelX;
> > > KMController.Interpreter.MaxAccelX = AccelX;
> > >
> > > KMController.Interpreter.CountsPerInchY = StepsPerInchY;
> > > KMController.Interpreter.MaxVelY = MaxVelY;
> > > KMController.Interpreter.MaxAccelY = AccelY;
> > >
> > > KMController.Interpreter.CountsPerInchZ = StepsPerInchZ;
> > > KMController.Interpreter.MaxVelZ = MaxVelZ;
> > > KMController.Interpreter.MaxAccelZ = AccelZ;
> > >
> > > KMController.Interpreter.CountsPerInchA = StepsPerInchA;
> > > KMController.Interpreter.MaxVelA = MaxVelA;
> > > KMController.Interpreter.MaxAccelA = AccelA;
> > >
> > > KMController.Interpreter.BreakAngle = 30;
> > >
> > > KMController.Interpreter.SetupParams.LengthUnits = KMotion_dotNet.CANON_UNITS.CANON_UNITS_INCHES;
> > > KMController.Interpreter.SetupParams.X_AxisOffset = 0.0;
> > > KMController.Interpreter.SetupParams.Y_AxisOffset = 0.0;
> > > KMController.Interpreter.SetupParams.Z_AxisOffset = 0.0;
> > >
> > > KMController.Interpreter.SetupParams.BlockDelete = true;
> > >
> > > KMController.Interpreter.SetupParams.RadiusCompSide = KMotion_dotNet.CANON_SIDE.CANON_SIDE_OFF;
> > > KMController.Interpreter.SetupParams.Cycle_R = 0.0;
> > > KMController.Interpreter.SetupParams.Cycle_Z = 0.0;
> > >
> > > KMController.Interpreter.SetupParams.DistanceMode = KMotion_dotNet.DISTANCE_MODE.MODE_ABSOLUTE;
> > >
> > > KMController.Interpreter.SetupParams.FeedMode = 2;
> > >
> > > KMController.Interpreter.SetupParams.FloodCoolantOn = false;
> > > KMController.Interpreter.SetupParams.MistCoolantOn = false;
> > >
> > > KMController.Interpreter.SetupParams.CurrentMotionMode = 80;
> > >
> > > KMController.Interpreter.SetupParams.WorkPlane = KMotion_dotNet.CANON_PLANE.CANON_PLANE_XY;
> > >
> > > KMController.Interpreter.SetupParams.ToolLengthOffsetIndex = 1;
> > > KMController.Interpreter.SetupParams.RadiusComp = 1;
> > >
> > > KMController.Interpreter.SetupParams.SelectedToolSlot = 1;
> > > KMController.Interpreter.SetupParams.TraverseSpeed = 200;
> > > KMController.Interpreter.SetupParams.SpindleDirection = KMotion_dotNet.CANON_DIRECTION.CANON_STOPPED;
> > > KMController.Interpreter.SetupParams.ToolLengthOffset = 0.0;
> > >
> > > KMController.Interpreter.SetMcodeAction(3, MCODE_TYPE.M_Action_SetTwoBits, 27, 1, 28, 0, 0, "SpindleCW");
> > > KMController.Interpreter.SetMcodeAction(4, MCODE_TYPE.M_Action_SetTwoBits, 27, 0, 28, 1, 0, "SpindleCCW");
> > > KMController.Interpreter.SetMcodeAction(5, MCODE_TYPE.M_Action_SetTwoBits, 27, 0, 28, 0, 0, "SpindleOff");
> > > KMController.Interpreter.SetMcodeAction(7, MCODE_TYPE.M_Action_Setbit, 3, 1, 0, 0, 0, "MistOn");
> > > KMController.Interpreter.SetMcodeAction(8, MCODE_TYPE.M_Action_Setbit, 4, 1, 0, 0, 0, "FloodOn");
> > > KMController.Interpreter.SetMcodeAction(9, MCODE_TYPE.M_Action_SetTwoBits, 3, 0, 4, 0, 0, "CoolantOff");
> > > KMController.Interpreter.SetMcodeAction(10, MCODE_TYPE.M_Action_Program, 2, 4, 0, 0, 0, @"C:\My KFlop C Programs\KMotionCNC\KMotionCNCSpindlePWM.c");
> > > KMController.Interpreter.SetMcodeAction(21, MCODE_TYPE.M_Action_Program, 4, 10, 28, 0, 0, @"C:\My KFlop C Programs\KMotionCNC\KMotionCNCMCodeHandler.c");
> > >
> > > KMController.Interpreter.InitializeOnExecute = false;
> > > KMController.Interpreter.InitializeInterpreter();
> > >
> > > InterpreterInitialized = true;
> > >
> > > RunCommand(@"C:\KMotion428\GCode Programs\Init.nc", "G20 F0 S0 G54", true);
> > >
> > > while (InterpreterIsRunning)
> > > ;
> > > }
> > >
> > > Regards,
> > > Ray L.
> > >
> > > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > > >
> > > > Hi Ray,
> > > > Â
> > > > Sounds like a bug. Is that from your code? Maybe some parameter is not being set? You will probably have to step into the code to figure it out. Otherwise capture the output motion to see what the really acceleration is.
> > > > Â
> > > > Which connectors are you using. You can multiplex the encoder inputs to JP4 and JP6 if that helps.
> > > > Â
> > > > Regards
> > > > TK
> > > >
> > > >
> > > > ________________________________
> > > > From: himykabibble <jagboy@>
> > > > To: DynoMotion@yahoogroups.com
> > > > Sent: Friday, February 3, 2012 9:14 AM
> > > > Subject: [DynoMotion] Re: Can You Verify My Settings?
> > > >
> > > >
> > > > Â
> > > > Just a little more data:
> > > >
> > > > I increased velocity to 200 IPM (67733), acceleration to 35 in/sec^2 (700000), and jerk to 2E12, and I get VERY rare faults when running G0s - perhaps one every few hundred cycles. This is perfectly consistent with what I saw when I first setup the system with Mach3. With the 5X reduced settings in my previous post, I still get CONSTANT faults running G1s, even with the Feedrate specified as only 15 IPM. Why is the response to G1s so radically different from G0s?
> > > >
> > > > Unfortunately, no easy way to wire encoders in, as I'm using the encoder pins for other things, and I'm not keen on re-wiring just now. But, it seems to me the fact that I can run such aggressive parameters with G0s indicates the servo tuning is not all that far from optimal.
> > > >
> > > > Regards,
> > > > Ray L.
> > > >
> > > > --- In DynoMotion@yahoogroups.com, "himykabibble" <jagboy@> wrote:
> > > > >
> > > > > Tom,
> > > > >
> > > > > I'm stumped here.... If I do:
> > > > >
> > > > > G00 Z-0.5
> > > > > G00 Z0.0
> > > > >
> > > > > with acceleration at 25in/sec^2, jerk at 20E6, it will run HUNDREDS of cycles, never skipping a beat. I have . But, if I do:
> > > > >
> > > > > G01 Z-0.5 F150
> > > > > G01 Z0.0
> > > > >
> > > > > even with acceleration reduced by a factor of 5 (to 5in/sec^2), and jerk reduced to 2E5, it faults the servo on EVERY move, and the axis never moves! What is going on here?
> > > > >
> > > > > This is the same behavior I've been seeing on my knee - where G0s work perfectly, but when I try to jog with the pendant, I can very easily get faults, even at very low speeds. None of the axes on this machine have ever faulted in the past, unless I ran them into an immovable object.
> > > > >
> > > > > Regards,
> > > > > Ray L.
> > > > >
> > > > > --- In DynoMotion@yahoogroups.com, "himykabibble" <jagboy@> wrote:
> > > > > >
> > > > > > Tom,
> > > > > >
> > > > > > The code is the following two lines repeated many time:
> > > > > >
> > > > > > G01 Z-0.1 F30
> > > > > > G00 Z0.0
> > > > > >
> > > > > > The velocity and acceleration settings are what I've been using ever since I built the machine over 3 years ago. Never a problem. In fact, it's capable of more, it's just too scary to crank things up any higher.
> > > > > >
> > > > > > Can you explain why KMotionCNC would behave differently from my app? That's the one that really makes no sense to me. I can accept that the servo tuning is not perfect (though it's worked perfectly all these years), but I can't understand why KMotionCNC would not exactly duplicate what my app does, unless the settings in my program are wrong.
> > > > > >
> > > > > > Regards,
> > > > > > Ray L.
> > > > > >
> > > > > > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > > > > > >
> > > > > > > Hi Ray,
> > > > > > > ÃÆ'‚Â
> > > > > > > When you say "200ÃÆ'‚Â IPM rapid back up" I assume youÃÆ'‚Â didn't mean to say "rapid" as in G0?ÃÆ'‚Â It would help to just list the G code.
> > > > > > > ÃÆ'‚Â
> > > > > > > All we are using here is the Z axis correct?
> > > > > > > ÃÆ'‚Â
> > > > > > > Your settings are pretty aggressive with acceleration of 25 in/sec2.ÃÆ'‚Â I calculate to move 0.1 inches will only take 0.12 seconds with infinite Jerk (what Mach3 always uses).ÃÆ'‚Â So that explains why "rapids" with KMotionCNC is slower.ÃÆ'‚Â With Jerk limit it takes about 0.27 seconds.ÃÆ'‚Â I often just enter the numbers into the Step Response Screen to visually see the profile.
> > > > > > > ÃÆ'‚Â
> > > > > > > But I don't understand why feed moves (infinite Jerk) would be different between Mach3 and KMotionCNC.ÃÆ'‚Â I would capture and plot the data to see which is correct.
> > > > > > > ÃÆ'‚Â
> > > > > > > Yes by all means wire the encoder back to KFLOP to be able to plot the servo performance.
> > > > > > > ÃÆ'‚Â
> > > > > > > Regards
> > > > > > > TKÃÆ'‚Â
> > > > > > >
> > > > > > > From: himykabibble <jagboy@>
> > > > > > > To: DynoMotion@yahoogroups.com
> > > > > > > Sent: Thursday, February 2, 2012 6:12 PM
> > > > > > > Subject: [DynoMotion] Can You Verify My Settings?
> > > > > > >
> > > > > > >
> > > > > > > ÃÆ'‚Â
> > > > > > > Tom,
> > > > > > >
> > > > > > > I tried to actually use my machine with my new app today. The good news is the app did nothing unexpected, and I can tell I will really like the UI once it's a bit more polished. One of the things I added last night was I now output the tool table into my G-code, and the G-code loader in my app now finds it, and pushes it into the interpreter automatically. I will make a tool length database, and hook it into that, so the current tool length settings will be automatically updated each time the program is loaded.
> > > > > > >
> > > > > > > However, on the first part I tried to cut today, I found it losing position on the quill when doing peck drilling. This always occurred on the up-move. After digging into this a bit, I came up with a simple test program that does a short feed move down at F30, then a 200 IPM rapid back up to the start position. It just does this over, and over, and over. When I run this with my app, I get *constant* faults on the quill servo (something I've never seen in 3 years with this machine). When I run it under KMotionCNC, with what *should* be the same settings, I get occasional faults. When I run it under Mach3 (still with the KFlop), I get no faults.
> > > > > > >
> > > > > > > Why would I get a different result running my app vs KMotionCNC? Or even Mach3 for that matter? I believe the settings are exactly the same, as follows:
> > > > > > >
> > > > > > > X/Y Steps/Inch: 20000
> > > > > > > X/Y Vel: 200 IPM | 66667 counts/sec
> > > > > > > X/Y Accel: 25 in/sec^2 | 500000counts/sec^2
> > > > > > > X/Y Jerk: 2E6
> > > > > > >
> > > > > > > Z Steps/Inch: 20320
> > > > > > > Z Vel: 150 IPM/50800 counts/sec
> > > > > > > Z Accel: 25 in/sec^2 | 508000 counts/sec*2
> > > > > > > Z Jerk: 2E6
> > > > > > >
> > > > > > > A Steps/Inch: 96000
> > > > > > > A Vel: 50 IPM | 80000
> > > > > > > A Accel: 5 in/sec^2 | 480000
> > > > > > > A Jerk: 2E6
> > > > > > >
> > > > > > > Any ideas?
> > > > > > >
> > > > > > > One significant difference I noted between running with Mach3 and running with KMotion - I changed the program to be a 100IPM feed down to -0.1, then a rapid back up to 0.0. If I run this under Mach3, the quill moves up and down VERY quickly, probably making 2-3 cycles/second. Under KMotionCNC and my app, the time to complete each down and up cycle is probably 2-3X what it is in Mach3 - completing no more than one cycle per second.
> > > > > > >
> > > > > > > Regards,
> > > > > > > Ray L.
> > > > > > >
> > > > > >
> > > > >
> > > >
> > >
> >
>