Hi Michael,
See attached.
Regards
TK
| Group: DynoMotion |
Message: 4517 |
From: Michael Rosenfield |
Date: 4/7/2012 |
| Subject: Re: SoftLimits3Axis.c [1 Attachment] |
Thanks, Tom. So, how does this get combined with the MDI software, for instance? Do I just put the sections sequentially after for(;;) or WaitNextTimeSlice(); as they are written individually? Michael
| Group: DynoMotion |
Message: 4518 |
From: Tom Kerekes |
Date: 4/7/2012 |
| Subject: Re: SoftLimits3Axis.c |
Hi Michael,
Well you have to merge the two loops into one bigger loop in such a way that there is only one WaitNextTimeSlice() per loop. I'm not sure how familiar you are with programming concepts. A common mistake of non-programmers is to add one forever loop after another forever loop without realizing that because the CPU will remain in the first loop forever the second loop will never be executed.
Regards
TK
| Group: DynoMotion |
Message: 4519 |
From: Michael Rosenfield |
Date: 4/7/2012 |
| Subject: Re: SoftLimits3Axis.c |
I'm rusty on C but current on PIC assembly language programming. Just a little fuzzy on how the various sections of KFlop and KmotionCNC code talk to each other. But you said essentially what I meant about merging. So can I stick the code from softlimits WaitNextTimeSlice section just after the code from the MDI WaitNextTimeSlice section? Second question: There is an Init button and a Home button in KMotionCNC, and I found where the link to each routine goes. But the default link calls program.c - an ascii file, not a compiled binary file. So how does this work? Third question: Does the MDI and SoftLimit code go in its own program, or can it be stuck at the end of the Init program? Forth question: If the Home routine is separate from the Init routine does this require separate programs, or are there separate entry points available? Thanks, Michael
| Group: DynoMotion |
Message: 4520 |
From: Tom Kerekes |
Date: 4/7/2012 |
| Subject: Re: SoftLimits3Axis.c |
Hi Michael,
#1 Yes
#2 The button references the acsii C program. It is automatically compiled, downloaded, and executed
#3 It is added to the end of the Init Program.
#4 The Home program should be a separate program
Regards
TK
| Group: DynoMotion |
Message: 4523 |
From: Michael Rosenfield |
Date: 4/8/2012 |
| Subject: Re: SoftLimits3Axis.c |
Thanks, Tom. It's practically acting like a mill now! I have the Home function and the Init function working, except that axis 3 moves very slowly with KMotionCNC, but works the way it should with KMotion. I have attached the Init file - do you see anything wrong? Regards, Michael
| Group: DynoMotion |
Message: 4530 |
From: Michael Rosenfield |
Date: 4/9/2012 |
| Subject: Re: SoftLimits3Axis.c |
Thanks, Tom. It's practically acting like a mill now! I have the Home function and the Init function working, except that axis 3 moves very slowly with KMotionCNC, but works the way it should with KMotion. I have attached the Init file - do you see anything wrong? Regards, Michael
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| Group: DynoMotion |
Message: 4531 |
From: Tom Kerekes |
Date: 4/9/2012 |
| Subject: Re: SoftLimits3Axis.c [1 Attachment] |
Hi Michael,
What do you have the KMotionCNC | Tool Setup | Trajectory Planner Settings for X set at? What speed does it move? For what command? G0? G1? Jogging?
Regards
TK
| Group: DynoMotion |
Message: 4532 |
From: Michael Rosenfield |
Date: 4/9/2012 |
| Subject: Re: SoftLimits3Axis.c |
I'll have to check tomorrow. I haven't changed the TP settings from the default. So far, I have only jogged the axes slow, fast, and various steps (0.01". 0.1"). X, Y, and quill operate as I would expect, and move the correct step distances. With fast jog, the knee moves maybe 1/10 of the speed it moves with a 1000 or 4000 count move in KMotion. Its encoder is 40,000 counts/inch. Regards, Michael
| Group: DynoMotion |
Message: 4533 |
From: Michael Rosenfield |
Date: 4/10/2012 |
| Subject: Re: SoftLimits3Axis.c |
Tom, I guess the TP settings expain what I'm seeing! Question is - where did TP get this info? It got XYZ correct, but not A. Thanks, Michael
| Group: DynoMotion |
Message: 4534 |
From: TK |
Date: 4/10/2012 |
| Subject: Re: SoftLimits3Axis.c [1 Attachment] |
Hi Michael,
It is up to you to set the parameters.
TK
Tom, I guess the TP settings expain what I'm seeing! Question is - where did TP get this info? It got XYZ correct, but not A. Thanks, Michael
| Group: DynoMotion |
Message: 4535 |
From: Michael Rosenfield |
Date: 4/10/2012 |
| Subject: Re: SoftLimits3Axis.c |
Guess I forgot... Thanks, Tom! Michael
| Group: DynoMotion |
Message: 4538 |
From: Michael Rosenfield |
Date: 4/10/2012 |
| Subject: Re: SoftLimits3Axis.c |
Tom, I set the parameters, and now the A axis is working fine. So I tried running some g code - just a simple cube. Using KMotionCNC, the X & Z axis work as expected (axis 0 & 2). The Y axis (axis 1) tries to move, and shuts down. However, it works as expected in KMotion. Even weirder, though, is that a G1 Y1 or G1 Y0.1 cause this shut down, but if the axis has moved, a G1 Y0 does NOT cause the error, and it moves back to 0. How can I tell what is going on here? Thanks, Michael
| Group: DynoMotion |
Message: 4542 |
From: Tom Kerekes |
Date: 4/11/2012 |
| Subject: Re: SoftLimits3Axis.c |
Hi Michael,
Not sure what you mean by "shuts down". Disabled? If so check the KMotion Console Screen for any message.
It is possible that if an axis is marginally tripping a following error limit then moving one direction vs the other may behave differently.
You didn't include your settings, but it may be that you need to decrease the acceleration for the KMotionCNC Trajectory planner. Coordinated motion (G1,G2,G3) is 2nd order (infinite Jerk) motion. Where in KMotion you are probably testing smoother Jerk limited 3rd order motion. This is why there are two independent set of profile settings. Or not only smoother you may have the Jerk set so slow that for certain length moves you aren't even achieving max acceleration. To test how well your system can make 2nd order "infinite Jerk" moves in KMotion set the Jerk o a huge value (1000X of the Acceleration value).
Regards
TK
| Group: DynoMotion |
Message: 4543 |
From: Michael Rosenfield |
Date: 4/11/2012 |
| Subject: Re: SoftLimits3Axis.c |
Can I run KMotion and KMotionCNC at the same time? Yes, the axis is disabled. I can tell because it starts drifting - the associated analog output sits at about 45 mV when the position loop is not closed, and the axis moves slowly. I have attached the TP settings (axis A is set differently, but not being used currently). If I want to change the gain of an axis, can I edit the text of Init.c with a text editor? Will KMotionCNC compile or interpret it when I click the INIT button? Thanks, Michael
| Group: DynoMotion |
Message: 4545 |
From: Tom Kerekes |
Date: 4/11/2012 |
| Subject: Re: SoftLimits3Axis.c [1 Attachment] |
Hi Michael,
Yes you can run KMotion.exe and KMotionCNC.exe at the same time.
Yes it looks like you forgot to set the accelerations. They are set quite high at 30 in/sec2. For the Y axis with a resolution of 20,000 counts/inch that would be
30 x 20000 = 600000 counts/sec2
I see in a previous email you were testing in KMotion with a value of 80000 counts/sec2.
Yes you can edit the Init.c file and any changes will be applied the next time you click the INIT button. Be aware in this case that the screen values in KMotion may not have the same values so for example if different values are in KMotion and you push the "Move" button to download those the results will then be different. I'm afraid it is a bit confusing. We made this video to help explain the relationships:
Regards
TK
| Group: DynoMotion |
Message: 4547 |
From: Michael Rosenfield |
Date: 4/11/2012 |
| Subject: Re: SoftLimits3Axis.c |
Excellent! That makes things clearer. I'll go try this on the machine this afternoon. Thanks, TK. Michael
| Group: DynoMotion |
Message: 4548 |
From: Michael Rosenfield |
Date: 4/11/2012 |
| Subject: Re: SoftLimits3Axis.c |
OK, that solved the problem! I'll probably have to do some fine tuning, but it's cutting air now! Thanks for all your help! Michael | | | | | | | | | | | | | |
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