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Dear Friends,
Problem:
Both z and x-axis home properly, touching the limit switches and work as per the code, however the y-axis moves in the correct direction for about 3000-5000 steps and then automatically zeros and stops. It doesn't fully home itself.
We are using kmotion KMotion431n.exe (along with latest firmware from it)
Sometimes, we get negative soft limit trigger without the axis actually reaching its soft limit value (happens on y-axis)
Sometimes in the axis window (axis status screen of kmotion), we notice that the values present in the position group are being picked up by the destination group. Is this normal?
We checked for noise but couldnt find any issues with that.
The machine is a home made 3-axis horizontal mill.
Initialization Code:
#include "KMotionDef.h"
// Defines axis 0, 1, 2 as simple step dir TTL outputs for KSTEP
// enables them
// sets them as an xyz coordinate system for GCode
int main()
{
double T0, LastX=0, LastY=0, LastZ=0, Tau;
KStepPresent=TRUE; // enable KSTEP input multiplexing
FPGA(KAN_TRIG_REG)=4; // Mux PWM0 to JP7 Pin5 IO 44 for KSTEP
FPGA(STEP_PULSE_LENGTH_ADD) = 63 + 0x80; // set polarity and pulse length to 4us
ch0->InputMode=NO_INPUT_MODE;
ch0->OutputMode=STEP_DIR_MODE;
ch0->Vel=4000;
ch0->Accel=400000;
ch0->Jerk=4e+006;
ch0->P=0;
ch0->I=0.01;
ch0->D=0;
ch0->FFAccel=0;
ch0->FFVel=0;
ch0->MaxI=200;
ch0->MaxErr=1e+006;
ch0->MaxOutput=200;
ch0->DeadBandGain=1;
ch0->DeadBandRange=0;
ch0->InputChan0=0;
ch0->InputChan1=0;
ch0->OutputChan0=8;
ch0->OutputChan1=0;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x11f;
ch0->LimitSwitchNegBit=179;
ch0->LimitSwitchPosBit=178;
ch0->SoftLimitPos=134178;
ch0->SoftLimitNeg=-134178;
ch0->InputGain0=-1;
ch0->InputGain1=1;
ch0->InputOffset0=0;
ch0->InputOffset1=0;
ch0->OutputGain=-1;
ch0->OutputOffset=0;
ch0->SlaveGain=1;
ch0->BacklashMode=BACKLASH_OFF;
ch0->BacklashAmount=0;
ch0->BacklashRate=0;
ch0->invDistPerCycle=1;
ch0->Lead=0;
ch0->MaxFollowingError=1000000000;
ch0->StepperAmplitude=20;
ch0->iir[0].B0=1;
ch0->iir[0].B1=0;
ch0->iir[0].B2=0;
ch0->iir[0].A1=0;
ch0->iir[0].A2=0;
ch0->iir[1].B0=1;
ch0->iir[1].B1=0;
ch0->iir[1].B2=0;
ch0->iir[1].A1=0;
ch0->iir[1].A2=0;
ch0->iir[2].B0=0.000769;
ch0->iir[2].B1=0.001538;
ch0->iir[2].B2=0.000769;
ch0->iir[2].A1=1.92076;
ch0->iir[2].A2=-0.923833;
EnableAxisDest(0,0);
ch1->InputMode=NO_INPUT_MODE;
ch1->OutputMode=STEP_DIR_MODE;
ch1->Vel=4000;
ch1->Accel=400000;
ch1->Jerk=4e+006;
ch1->P=0;
ch1->I=0.01;
ch1->D=0;
ch1->FFAccel=0;
ch1->FFVel=0;
ch1->MaxI=200;
ch1->MaxErr=1e+006;
ch1->MaxOutput=200;
ch1->DeadBandGain=1;
ch1->DeadBandRange=0;
ch1->InputChan0=0;
ch1->InputChan1=0;
ch1->OutputChan0=9;
ch1->OutputChan1=0;
ch1->MasterAxis=-1;
ch1->LimitSwitchOptions=0x11f;
ch1->LimitSwitchNegBit=181;
ch1->LimitSwitchPosBit=180;
ch1->SoftLimitPos=95611.2;
ch1->SoftLimitNeg=-95611.2;
ch1->InputGain0=1;
ch1->InputGain1=1;
ch1->InputOffset0=0;
ch1->InputOffset1=0;
ch1->OutputGain=1;
ch1->OutputOffset=0;
ch1->SlaveGain=1;
ch1->BacklashMode=BACKLASH_OFF;
ch1->BacklashAmount=0;
ch1->BacklashRate=0;
ch1->invDistPerCycle=1;
ch1->Lead=0;
ch1->MaxFollowingError=1000000000;
ch1->StepperAmplitude=20;
ch1->iir[0].B0=1;
ch1->iir[0].B1=0;
ch1->iir[0].B2=0;
ch1->iir[0].A1=0;
ch1->iir[0].A2=0;
ch1->iir[1].B0=1;
ch1->iir[1].B1=0;
ch1->iir[1].B2=0;
ch1->iir[1].A1=0;
ch1->iir[1].A2=0;
ch1->iir[2].B0=0.000769;
ch1->iir[2].B1=0.001538;
ch1->iir[2].B2=0.000769;
ch1->iir[2].A1=1.92076;
ch1->iir[2].A2=-0.923833;
EnableAxisDest(1,0);
ch2->InputMode=NO_INPUT_MODE;
ch2->OutputMode=STEP_DIR_MODE;
ch2->Vel=4000;
ch2->Accel=400000;
ch2->Jerk=4e+006;
ch2->P=0;
ch2->I=0.01;
ch2->D=0;
ch2->FFAccel=0;
ch2->FFVel=0;
ch2->MaxI=200;
ch2->MaxErr=1e+006;
ch2->MaxOutput=200;
ch2->DeadBandGain=1;
ch2->DeadBandRange=0;
ch2->InputChan0=0;
ch2->InputChan1=0;
ch2->OutputChan0=10;
ch2->OutputChan1=0;
ch2->MasterAxis=-1;
ch2->LimitSwitchOptions=0x11f;
ch2->LimitSwitchNegBit=182;
ch2->LimitSwitchPosBit=183;
ch2->SoftLimitPos=93321.5;
ch2->SoftLimitNeg=-93321.5;
ch2->InputGain0=1;
ch2->InputGain1=1;
ch2->InputOffset0=0;
ch2->InputOffset1=0;
ch2->OutputGain=1;
ch2->OutputOffset=0;
ch2->SlaveGain=1;
ch2->BacklashMode=BACKLASH_OFF;
ch2->BacklashAmount=0;
ch2->BacklashRate=0;
ch2->invDistPerCycle=1;
ch2->Lead=0;
ch2->MaxFollowingError=1000000000;
ch2->StepperAmplitude=20;
ch2->iir[0].B0=1;
ch2->iir[0].B1=0;
ch2->iir[0].B2=0;
ch2->iir[0].A1=0;
ch2->iir[0].A2=0;
ch2->iir[1].B0=1;
ch2->iir[1].B1=0;
ch2->iir[1].B2=0;
ch2->iir[1].A1=0;
ch2->iir[1].A2=0;
ch2->iir[2].B0=0.000769;
ch2->iir[2].B1=0.001538;
ch2->iir[2].B2=0.000769;
ch2->iir[2].A1=1.92076;
ch2->iir[2].A2=-0.923833;
EnableAxisDest(2,0);
DefineCoordSystem(0,1,2,-1);
SetBitDirection(45,1); // set Enable Signal as Output
SetBit(45); // Enable the amplifiers
// Add a small amount of Coordinated Motion Path smoothing if desired
// Tau = 0.001; // seconds for Low Pass Filter Time Constant
// KLP = exp(-TIMEBASE/Tau);
KLP=0; // force to 0 to disable
// printf("Tau=%f KLP=%f\n",Tau,KLP);
/*
for (;;) // loop forever
{
WaitNextTimeSlice();
// Service Amplifier disable after no activity for a while
if (ch0->Dest != LastX || ch1->Dest != LastY || ch2->Dest != LastZ)
{
// we moved - enable KStep Amplifers
SetBit(45);
T0 = Time_sec(); // record the time and position of last motion
LastX=ch0->Dest;
LastY=ch1->Dest;
LastZ=ch2->Dest;
}
else
{
if (Time_sec() > T0 + 10.0) ClearBit(45);
}
if (ReadBit(180) == 0)
{
printf("Bit State Pressed");
}
}
*/
return 0;
}
Homing Code:
#include "KMotionDef.h"
// Configuration and Homing program for a 3 axis System
// Limit switches are disabled and used as a home switch
// then they are re-enabled
main()
{
int SaveXLimits,SaveYLimits,SaveZLimits; //place to save limit switch settings
DisableAxis(0); // Disable all axes
DisableAxis(1);
DisableAxis(2);
// Set the axis parameters here
// after everything is configured in the KMotion Screens
// use copy C Code to clipboard on the configuration screen
// then paste here. Repeat for each axis
// disable the limits (first save how they were set)
SaveXLimits = ch0->LimitSwitchOptions;
SaveYLimits = ch1->LimitSwitchOptions;
SaveZLimits = ch2->LimitSwitchOptions;
ch0->LimitSwitchOptions = 0;
ch1->LimitSwitchOptions = 0;
ch2->LimitSwitchOptions = 0;
// enable all 3 axes and begin servoing where we are
EnableAxis(0);
EnableAxis(1);
EnableAxis(2);
// Home Z up first - jog until it sees the limit
Jog(2,600); // jog slowly positive
while (ReadBit(183)) ; // loop until IO bit goes high
Jog(2,0);
// stop
while (!CheckDone(2)) ; // loop until motion completes
DisableAxis(2); // disable the axis
Zero(2); // Zero the position
EnableAxis(2); // re-enable the ServoTick
Move(2,-1000.0); // move some amount inside the limits
while (!CheckDone(2)) ; // loop until motion completes
ch2->LimitSwitchOptions = SaveZLimits; // restore limit settings
// Home X next - jog until it sees the limit
Jog(0,-600); // jog slowly negative
while (ReadBit(179)) ; // loop until IO bit goes high
Jog(0,0); // stop
while (!CheckDone(0)) ; // loop until motion completes
DisableAxis(0); // disable the axis
Zero(0); // Zero the position
EnableAxis(0); // re-enable the ServoTick
Move(0,1000.0); // move some amount inside the limits
while (!CheckDone(0)) ; // loop until motion completes
ch0->LimitSwitchOptions = SaveXLimits; // restore limit settings
// Home Y next - jog until it sees the limit
Jog(1,-600); // jog slowly negative
while (ReadBit(181)) ; // loop until IO bit goes high
Jog(1,0); // stop
while (!CheckDone(1)) ; // loop until motion completes
DisableAxis(1); // disable the axis
Zero(1); // Zero the position
EnableAxisDest(1,-95611.2);
//EnableAxis(1); // re-enable the ServoTick
Move(1,-94611.2);
//Move(1,1000.0); // move some amount inside the limits
while (!CheckDone(1)) ; // loop until motion completes
ch1->LimitSwitchOptions = SaveYLimits; // restore limit settings
DefineCoordSystem(0,1,2,-1); //Define XYZ coordinated motion axes
}
Do help us
Thanking you
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