Tom,

Following your message yesterday, I changed the limit switch options parameter from 0x123 to 0x12f (for all 3 axes), and all was then functional, Kmotion and KmotionCNC.

You said that the Console screen should have been giving messages that the axes were disabled.  I have been watching the Console screen all along, but saw no such messages.  I cannot say about the Axis screen, since I was not monitoring it.

Today I have apparently done something unintended, as the 3 axes are once again not moving.  I am getting no Console messages indicating problems.  The Axis Screen shows that all 3 axes are enabled.  I have attached my init.c file.  At the time that I lost motion, I was attempting to change ch1->OutputGain from 1 to -1 so that moves (by console script command or by KmotionCNC) would go the right direction.

I am thinking that I do not see all Console messages. When I power up, there is a date and time stamped message (Kmotion program started).  When I send a script command, it is echoed back, along with "KFLOP  4.33" and "Ready".  But, my init.c file contains a printf() message, and I do not see that argument string, either from power up or when I run init.c from the C Program screen.

I also question if things are working correctly when I am using the C Program screen.  On Compile, I always get a message declaring No Errors, plus some text/bss/data statistics.  But there is no message when I click Download or Run, leaving me to wonder whether anything has happened.  That the Console screen does not show my printf() string is additional unsettling evidence.

Please advise if you see something amiss in the init.c file.  I have been enabling the axes by the KFLOP J6 pin (+3.3v) rather than by bit 45.

Dave

---In DynoMotion@yahoogroups.com, <tk@...> wrote :

Hi Dave,

You seem to have some typo errors in your email.  Please attach your init.c program so we can see exactly what it is.

It seems your limit switches cause the input to go low (unchecked) when triggered.  So you should use the "Stop when low" option.  Which would (if you aren't using KMotion to generate the code for you) is:
    ch0->LimitSwitchOptions=0x12f;

Otherwise all your axes will be always disabled due to Limit Switch conditions.  If this is the case it should be obvious because disable messages will appear on the Console Screen and the Axis Screen will show all the Axes not enabled.

InvDistPerCycle has no effect on Step Pulse and Direction Drives such as KStep.

16 motor step pulses generate one full step with KStep.  So with a standard 200 full step/rev stepper motor there are 3200 "steps" per revolution.

Regards
TK

On 2/21/2016 2:14 PM, d.triezenberg@... [DynoMotion] wrote:

 

I have been closely following the procedure in the KSTEP Basics Tutorial in order to bring up my 3 axis engraving mill, which uses open loop steppers.  The Step Response screen works correctly (i.e., the motor for the selected axis will move and then return). So I have adjusted V,A,J and created an init.c file that includes the statement

DefineCoordSystem(0,1,2,-1)

The problem is that when I start up KmotionCNC, I cannot jog any of the 3 axes; they do not move when the buttons are clicked. So I am not ready to proceed with G code.

In an effort to debug, I can go back to Kmotion and find that the Step Response screen no longer works.  I can only make it work again by cycling power to KFLOP/KSTEP and NOT running my init.c file.  The same behavior occurs with the Console screen; a MoveRel script command works only if I have NOT run the init.c file.

By trial and error, I find that the statement that has seized all axis motion is the DefineCoordSystem() statement.  If I remove it from init.c, then I can run the Step Response moves, and MoveRel on the Console. This is entirely unexpected; I thought the DefineCoordSystem() was just providing some information needed by KmotionCNC.

Question 1) What is it that I do not understand?

Additional information:

I am running software version 4.33, but my USB driver is from 4.34 (signed). 

I have wired 6 microswitches as NC limit switches, and the relevant statements in init.c are

ch0->LimitSwitchOptions = 0x123;

ch0->LimitSwitchNegBit = 169;

ch0-LimitSwitchPosBit = 168;

and similar for ch1 and ch2 (170,171,172,173).

 I have wired the switches (through a simple breakout board) to pins 9-14 of KSTEP J36. 24 volt power is on pin 8 and all switches complete a circuit to 24 volt return. The Digital I/O screen of Kmotion (KSTEP Tab) shows that one of these opto inputs will transition from checked (high?) to unchecked (low?) when I manually depress a switch. 

I have two related questions on the size of steps.  My motors are 200 steps/rev. I find that 3200 "counts" on the Step Response screen causes one full revolution of the motor.  This seems to be independent of the value assigned to chX->InvDistPerCycle in the init.c file.  I also get one full revolution from the script statement

MoveRel0 = 3200

Question 2) Does parameter chX->InvDistPerCycle have any effect on the functioning of Kmotion screens?

Question 3) Do I correctly infer that 16 "counts" are one full revolution?

Dave

 

Tom, 

I followed your steps. All was OK until step 9; Dest did not change and the motor did not move.

I then proceeded as follows:

1. At C Program window, create a 1 line "Hello, World" program. Compile, Download, Run with the one button.

2. Flash this new program into thread 1, so that init.c will not run at power-up.

3. Close Kmotion, power down KFLOP/KSTEP.

4. Restart Kmotion, open windows Console, Axis, C Program

5. (C Program window) Open init.c

6. Power up KFLOP/KSTEP, wait until connected

7. (Config & Flash window) Import All from Open C Program

8. (Digital I/O window) set bit 0 as output and state as "checked" - I need this for the hardware enable signal at KSTEP J6.  Now I can hear that the motors have power.

9. (Step Response window, chan 0) click Move. Motor indexes back & forth, changing Dest shows in Axis window.

10. (Console window) Send "MoveRel0=3200".  Motor makes a full revolution and Dest changes to 3200

11. (C Program window) Compile, Download, Run init.c using the one button

12. (Step Response window) click Move. No response from motor or Dest in Axis window.

13. (Console window) Send "MoveRel0=3200". No motor response, no change to Dest

I am at at a loss to explain the result of steps 12 & 13.  I have attached a new copy of init.c to this message; I have been editing it some and could have inadvertantly changed something.

At this point, I am thinking that it is time to uninstall the Kmotion software and then reinstall.  Is it OK to use the 4.34 (signed?) USB driver with version 4.33?

Dave