Hi Tom,

I'm in the process of setting up a machine after a complete disassembly and I currently have each stepper axis setup in open loop. When I press the step button for a preset distance the motor will move smoothly as expected. However when I press and hold one of the arrowed buttons (Jog and Fast Jog) the movement isn't smooth and changes speed irregularly, or you could say it stutters. 

My first instinct is to think the USB communication between the Kflop and the PC isn't consistent or choppy, although I purchased a USB isolator and after installing it between the Kflop and PC, there doesn't appear to be any improvement. I had some noise issues that were solved (as far as I can tell) by terminating all of the grounds to a single point on the PSU, although perhaps I still have noise affecting how jogging is done.

Do you have any suggestions as to how I might be able to track down what is going on?

Andy 

 

Tom,

Are these the settings you are referring to?

Y_CHAN->InputMode=ENCODER_MODE;

Y_CHAN->OutputMode=CL_MICROSTEP_MODE;

#if RUN_OPEN_LOOP

Y_CHAN->InputMode=NO_INPUT_MODE;

Y_CHAN->OutputMode=MICROSTEP_MODE;

printf("NOTE: Y MOTOR IS OPEN LOOP !!!\n");

#else

Y_CHAN->OutputMode=CL_MICROSTEP_MODE;

#endif // RUN_OPEN_LOOP

Y_CHAN->Vel=350.000000;

Y_CHAN->Accel=1000.000000;

Y_CHAN->Jerk=50000.000000;

Y_CHAN->P=0.0;

Y_CHAN->I=0.0038;

Y_CHAN->D=0.0;

Y_CHAN->FFAccel=0.000000;

Y_CHAN->FFVel=0.000000;

Y_CHAN->MaxI=400.000000;

Y_CHAN->MaxErr=1000000.000000;

Y_CHAN->MaxOutput=204.000000;

Y_CHAN->DeadBandGain=1.000000;

Y_CHAN->DeadBandRange=0.000000;

Y_CHAN->InputChan0=12;

Y_CHAN->InputChan1=13;

Y_CHAN->OutputChan0=12;

Y_CHAN->OutputChan1=13;

Y_CHAN->LimitSwitchOptions=0x0;

Y_CHAN->InputGain0 = 50.0 / 8192.0;

Y_CHAN->InputGain1=1.000000;

Y_CHAN->InputOffset0=0.000000;

Y_CHAN->InputOffset1=0.000000;

Y_CHAN->invDistPerCycle=1.000000;

Y_CHAN->Lead=128.42;

Y_CHAN->MaxFollowingError=20.000000;

Y_CHAN->StepperAmplitude=204.000000;

Y_CHAN->BacklashMode=BACKLASH_OFF; // BACKLASH_LINEAR

Y_CHAN->BacklashAmount = 5.0 * Y_CHAN->InputGain0;

Y_CHAN->BacklashRate= 1000 * Y_CHAN->InputGain0;

if (REVERSE_Y_AXIS) {

Y_CHAN->InputGain0 = 0.0 - Y_CHAN->InputGain0;

Y_CHAN->invDistPerCycle = 0.0 - Y_CHAN->invDistPerCycle; 

}

Y_CHAN->iir[0].B0=1.000000;

Y_CHAN->iir[0].B1=0.000000;

Y_CHAN->iir[0].B2=0.000000;

Y_CHAN->iir[0].A1=0.000000;

Y_CHAN->iir[0].A2=0.000000;

Y_CHAN->iir[1].B0=1.000000;

Y_CHAN->iir[1].B1=0.000000;

Y_CHAN->iir[1].B2=0.000000;

Y_CHAN->iir[1].A1=0.000000;

Y_CHAN->iir[1].A2=0.000000;

Y_CHAN->iir[2].B0=0.000768809; // APS was 1

Y_CHAN->iir[2].B1=0.00153762; // APS was 0

Y_CHAN->iir[2].B2=0.000768809; // APS was 0

Y_CHAN->iir[2].A1=1.92081; // APS was 0

Y_CHAN->iir[2].A2=-0.923885; // APS was 0

Let me know if you need something else.

Andy

On Tue, Nov 3, 2015 at 4:42 PM, TK tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:

 

Hi Andy,

It isn't likely to be a communication issue. Possibly a settings issue.  What are your KFLOP Axis settings?  What Are your Jog Speeds?

Regards
TK 

On 11/3/2015 4:23 PM, andysontag@... [DynoMotion] wrote:

 

Hi Tom,

I'm in the process of setting up a machine after a complete disassembly and I currently have each stepper axis setup in open loop. When I press the step button for a preset distance the motor will move smoothly as expected. However when I press and hold one of the arrowed buttons (Jog and Fast Jog) the movement isn't smooth and changes speed irregularly, or you could say it stutters. 

My first instinct is to think the USB communication between the Kflop and the PC isn't consistent or choppy, although I purchased a USB isolator and after installing it between the Kflop and PC, there doesn't appear to be any improvement. I had some noise issues that were solved (as far as I can tell) by terminating all of the grounds to a single point on the PSU, although perhaps I still have noise affecting how jogging is done.

Do you have any suggestions as to how I might be able to track down what is going on?

Andy 

Trajectory Planning Settings-12486.PNG
InitHughsCNC-12486(1).c

 

Tom,

I've attached my init c file as well as a screen shot of my KmotionCNC trajectory planner settings. Let me know if I'm missing anything else.

Andy

On Wed, Nov 4, 2015 at 8:42 AM, TK tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:

 

Hi Andy,

Yes but you didn't include the related defines or your KMotionCNC | Tool Setup | Trajectory Planner Settings

Regards
TK

On 11/3/2015 6:23 PM, Andy Sontag andysontag@... [DynoMotion] wrote:

 

Tom,

Are these the settings you are referring to?

Y_CHAN->InputMode=ENCODER_MODE;

Y_CHAN->OutputMode=CL_MICROSTEP_MODE;

#if RUN_OPEN_LOOP

Y_CHAN->InputMode=NO_INPUT_MODE;

Y_CHAN->OutputMode=MICROSTEP_MODE;

printf("NOTE: Y MOTOR IS OPEN LOOP !!!\n");

#else

Y_CHAN->OutputMode=CL_MICROSTEP_MODE;

#endif // RUN_OPEN_LOOP

Y_CHAN->Vel=350.000000;

Y_CHAN->Accel=1000.000000;

Y_CHAN->Jerk=50000.000000;

Y_CHAN->P=0.0;

Y_CHAN->I=0.0038;

Y_CHAN->D=0.0;

Y_CHAN->FFAccel=0.000000;

Y_CHAN->FFVel=0.000000;

Y_CHAN->MaxI=400.000000;

Y_CHAN->MaxErr=1000000.000000;

Y_CHAN->MaxOutput=204.000000;

Y_CHAN->DeadBandGain=1.000000;

Y_CHAN->DeadBandRange=0.000000;

Y_CHAN->InputChan0=12;

Y_CHAN->InputChan1=13;

Y_CHAN->OutputChan0=12;

Y_CHAN->OutputChan1=13;

Y_CHAN->LimitSwitchOptions=0x0;

Y_CHAN->InputGain0 = 50.0 / 8192.0;

Y_CHAN->InputGain1=1.000000;

Y_CHAN->InputOffset0=0.000000;

Y_CHAN->InputOffset1=0.000000;

Y_CHAN->invDistPerCycle=1.000000;

Y_CHAN->Lead=128.42;

Y_CHAN->MaxFollowingError=20.000000;

Y_CHAN->StepperAmplitude=204.000000;

Y_CHAN->BacklashMode=BACKLASH_OFF; // BACKLASH_LINEAR

Y_CHAN->BacklashAmount = 5.0 * Y_CHAN->InputGain0;

Y_CHAN->BacklashRate= 1000 * Y_CHAN->InputGain0;

if (REVERSE_Y_AXIS) {

Y_CHAN->InputGain0 = 0.0 - Y_CHAN->InputGain0;

Y_CHAN->invDistPerCycle = 0.0 - Y_CHAN->invDistPerCycle; 

}

Y_CHAN->iir[0].B0=1.000000;

Y_CHAN->iir[0].B1=0.000000;

Y_CHAN->iir[0].B2=0.000000;

Y_CHAN->iir[0].A1=0.000000;

Y_CHAN->iir[0].A2=0.000000;

Y_CHAN->iir[1].B0=1.000000;

Y_CHAN->iir[1].B1=0.000000;

Y_CHAN->iir[1].B2=0.000000;

Y_CHAN->iir[1].A1=0.000000;

Y_CHAN->iir[1].A2=0.000000;

Y_CHAN->iir[2].B0=0.000768809; // APS was 1

Y_CHAN->iir[2].B1=0.00153762; // APS was 0

Y_CHAN->iir[2].B2=0.000768809; // APS was 0

Y_CHAN->iir[2].A1=1.92081; // APS was 0

Y_CHAN->iir[2].A2=-0.923885; // APS was 0

Let me know if you need something else.

Andy

On Tue, Nov 3, 2015 at 4:42 PM, TK tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:

 

Hi Andy,

It isn't likely to be a communication issue. Possibly a settings issue.  What are your KFLOP Axis settings?  What Are your Jog Speeds?

Regards
TK 

On 11/3/2015 4:23 PM, andysontag@... [DynoMotion] wrote:

 

Hi Tom,

I'm in the process of setting up a machine after a complete disassembly and I currently have each stepper axis setup in open loop. When I press the step button for a preset distance the motor will move smoothly as expected. However when I press and hold one of the arrowed buttons (Jog and Fast Jog) the movement isn't smooth and changes speed irregularly, or you could say it stutters. 

My first instinct is to think the USB communication between the Kflop and the PC isn't consistent or choppy, although I purchased a USB isolator and after installing it between the Kflop and PC, there doesn't appear to be any improvement. I had some noise issues that were solved (as far as I can tell) by terminating all of the grounds to a single point on the PSU, although perhaps I still have noise affecting how jogging is done.

Do you have any suggestions as to how I might be able to track down what is going on?

Andy 

Updated Trajectory Planner Settings-12488.PNG