DRO Not Zero After Homing

[cyprian21]

Hi there,

Please see my initialization file attached.

I can't seem to get KMotionCNC's DRO to show zero on XYZ after my homing routine is complete.

Am I using the Zero command incorrectly to clear the measured position?

Thank you in advance,
Cyprian

[TomKerekes]

Hi Cyprian,

Do you have any GCode Offsets? Are the Machine Coordinates or KMotion.exe Axis Screen's Destinations zero? Does your machine have encoders? Are you displaying encoders?

[cyprian21]

Thank you kindly Tom,

Yes I did indeed have a G54 work offset.

When I removed the offset the DRO reads zero when homed.

[Rasta]

hi;
I have the same issue , but my problem is as follows
I have a machine that when I home it the machine coordinates "Red DRO display"in X,Y , instead of showing 0000, it shows 25.4..and I cant change it or reset it.
now I have set up a controller running another kflop/ Kanalog board , but with same version of software, and c programs including initialisation and the homing program in the home computer, but on this machine the machine home position "Red DRO display " sets to zero automatically when the home switch is hit.
can you please give me an idea of what can I be doing wrong?
I running ver 4.35H in both machines .
Kind regards
Mariano.

[TomKerekes]

Hi Mariano,

Please post your Home and Initialization Programs.

[Rasta]

hi Tom;
sorry for the delay , but i have been trying a couple of things like flashing the Kflop and doing a recovery , and the controller still shows the 25.4000 in X and Y DRO machine position, in fact when I start the Kmotion CNC program it reads 0.0000 in X and Y , with the Kanalog not initialised , and the DRO numbers in yellow ,but within a few seconds of showing that yellow 0,0000 in the X and Y DRO it changes to X25.4000 Y25.4000, in yellow, and with the controller still in pre initialisation stage , and without running the limit stops program .
kind Regards
Mariano

[Rasta]

Code: Select all

[code]

[/code]
#include "KMotionDef.h"
#define TMP 10 // which spare persist to use to transfer data
#include "KflopToKMotionCNCFunctions.c"

// Example Init program that includes "smooth" MPG motion example
// which makes use of the exponential motion command.

#define QA 27 // define to which IO bits the AB signals are connected
#define QB 26

#define ESTOP_BIT 16//shorting to pin 3, 3.3v to pin 5 bit 16


#define TAU 0.08 // smoothness factor (Low Pass Time constant seconds)
#define FINAL_TIME 1.0 // Set final dest after this amount of time with no change

#define SELECTX 28
#define SELECTY 29
#define SELECTZ 30
#define SELECTA 31
#define SELECTB 32
#define SELECTC 33

#define FACTOR1 21
#define FACTOR10 34
#define FACTOR100 35

// variables calculo visualizador velocidad hilo en pantalla
void ServiceTacoRpm(void);
#define V_HILO 9.166 // velocidad de salida del hilo en mm por revolucion del motor
#define VOLT 3 // voltaje a velocidad maxima del tacometro
#define CYCLE_TIME 0.3 //seconds between velocity estimations
#define VEL 170 // usa esta variable en el DROlabel para mostrar la velocidad de giro
char TS[80];

// variables y definicion de funciones control comunicacion pc-kflop
void ServiceWatchdogStatus(void);
void WatchdogTripped(void);
void WatchdogOK(void);

#define WATCHDOG_DELAY 5.0 // seconds after host stops to Trigger


main()
{

int BitA,Change1=0,Change2=0, DiffX2;
int PosNoWrap, NewPos, Pos=0, wraps;
int InMotion=FALSE,Axis,LastAxis=-1;
double LastChangeTime=0,Target,Factor=0;

FPGA(STEP_PULSE_LENGTH_ADD) = 32 + 0x40; // set the pulse time to ~ 2µs and multiplex to JP4 and JP6
//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=3000;
ch0->Accel=60000;
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=0x0;
ch0->SoftLimitPos=1e+009;
ch0->SoftLimitNeg=-1e+009;
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,ch0->Dest);

ch1->InputMode=NO_INPUT_MODE;
ch1->OutputMode=STEP_DIR_MODE;
ch1->Vel=4000;
ch1->Accel=2000;
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=0x0;
ch1->SoftLimitPos=1e+009;
ch1->SoftLimitNeg=-1e+009;
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,ch1->Dest);

ch4->InputMode=NO_INPUT_MODE;
ch4->OutputMode=STEP_DIR_MODE;
ch4->Vel=4000;
ch4->Accel=28000;
ch4->Jerk=4e+006;
ch4->P=0;
ch4->I=0.01;
ch4->D=0;
ch4->FFAccel=0;
ch4->FFVel=0;
ch4->MaxI=200;
ch4->MaxErr=1e+006;
ch4->MaxOutput=200;
ch4->DeadBandGain=1;
ch4->DeadBandRange=0;
ch4->InputChan0=4;
ch4->InputChan1=0;
ch4->OutputChan0=12;
ch4->OutputChan1=0;
ch4->MasterAxis=-1;
ch4->LimitSwitchOptions=0x0;
ch4->SoftLimitPos=1e+008;
ch4->SoftLimitNeg=-1e+008;
ch4->InputGain0=-1;
ch4->InputGain1=1;
ch4->InputOffset0=0;
ch4->InputOffset1=0;
ch4->OutputGain=1;
ch4->OutputOffset=0;
ch4->SlaveGain=1;
ch4->BacklashMode=BACKLASH_OFF;
ch4->BacklashAmount=0;
ch4->BacklashRate=0;
ch4->invDistPerCycle=1;
ch4->Lead=0;
ch4->MaxFollowingError=1000000000;
ch4->StepperAmplitude=20;

ch4->iir[0].B0=1;
ch4->iir[0].B1=0;
ch4->iir[0].B2=0;
ch4->iir[0].A1=0;
ch4->iir[0].A2=0;

ch4->iir[1].B0=1;
ch4->iir[1].B1=0;
ch4->iir[1].B2=0;
ch4->iir[1].A1=0;
ch4->iir[1].A2=0;

ch4->iir[2].B0=0.000769;
ch4->iir[2].B1=0.001538;
ch4->iir[2].B2=0.000769;
ch4->iir[2].A1=1.92076;
ch4->iir[2].A2=-0.923833;

EnableAxisDest(4,ch4->Dest);

ch5->InputMode=NO_INPUT_MODE;
ch5->OutputMode=STEP_DIR_MODE;
ch5->Vel=4000;
ch5->Accel=40000;
ch5->Jerk=4e+006;
ch5->P=0;
ch5->I=0.01;
ch5->D=0;
ch5->FFAccel=0;
ch5->FFVel=0;
ch5->MaxI=200;
ch5->MaxErr=1e+006;
ch5->MaxOutput=200;
ch5->DeadBandGain=1;
ch5->DeadBandRange=0;
ch5->InputChan0=4;
ch5->InputChan1=0;
ch5->OutputChan0=13;
ch5->OutputChan1=0;
ch5->MasterAxis=-1;
ch5->LimitSwitchOptions=0x0;
ch5->SoftLimitPos=1e+009;
ch5->SoftLimitNeg=-1e+009;
ch5->InputGain0=-1;
ch5->InputGain1=1;
ch5->InputOffset0=0;
ch5->InputOffset1=0;
ch5->OutputGain=-1;
ch5->OutputOffset=0;
ch5->SlaveGain=1;
ch5->BacklashMode=BACKLASH_LINEAR;
ch5->BacklashAmount=55.62;
ch5->BacklashRate=500;
ch5->invDistPerCycle=1;
ch5->Lead=0;
ch5->MaxFollowingError=1000000000;
ch5->StepperAmplitude=20;
ch5->iir[0].B0=1;
ch5->iir[0].B1=0;
ch5->iir[0].B2=0;
ch5->iir[0].A1=0;
ch5->iir[0].A2=0;
ch5->iir[1].B0=1;
ch5->iir[1].B1=0;
ch5->iir[1].B2=0;
ch5->iir[1].A1=0;
ch5->iir[1].A2=0;
ch5->iir[2].B0=0.000769;
ch5->iir[2].B1=0.001538;
ch5->iir[2].B2=0.000769;
ch5->iir[2].A1=1.92076;
ch5->iir[2].A2=-0.923833;

EnableAxisDest(5,ch5->Dest);

ch6->InputMode=NO_INPUT_MODE;
ch6->OutputMode=STEP_DIR_MODE;
ch6->Vel=4000;
ch6->Accel=40000;
ch6->Jerk=4e+006;
ch6->P=0;
ch6->I=0.01;
ch6->D=0;
ch6->FFAccel=0;
ch6->FFVel=0;
ch6->MaxI=200;
ch6->MaxErr=1e+006;
ch6->MaxOutput=200;
ch6->DeadBandGain=1;
ch6->DeadBandRange=0;
ch6->InputChan0=6;
ch6->InputChan1=0;
ch6->OutputChan0=14;
ch6->OutputChan1=0;
ch6->MasterAxis=-1;
ch6->LimitSwitchOptions=0x0;
ch6->SoftLimitPos=1e+009;
ch6->SoftLimitNeg=-1e+009;
ch6->InputGain0=-1;
ch6->InputGain1=1;
ch6->InputOffset0=0;
ch6->InputOffset1=0;
ch6->OutputGain=1;
ch6->OutputOffset=0;
ch6->SlaveGain=1;
ch6->BacklashMode=BACKLASH_OFF;
ch6->BacklashAmount=0;
ch6->BacklashRate=0;
ch6->invDistPerCycle=1;
ch6->Lead=0;
ch6->MaxFollowingError=1000000000;
ch6->StepperAmplitude=20;
ch6->iir[0].B0=1;
ch6->iir[0].B1=0;
ch6->iir[0].B2=0;
ch6->iir[0].A1=0;
ch6->iir[0].A2=0;
ch6->iir[1].B0=1;
ch6->iir[1].B1=0;
ch6->iir[1].B2=0;
ch6->iir[1].A1=0;
ch6->iir[1].A2=0;
ch6->iir[2].B0=0.000769;
ch6->iir[2].B1=0.001538;
ch6->iir[2].B2=0.000769;
ch6->iir[2].A1=1.92076;
ch6->iir[2].A2=-0.923833;

EnableAxisDest(6,ch6->Dest);

ch7->InputMode=NO_INPUT_MODE;
ch7->OutputMode=STEP_DIR_MODE;
ch7->Vel=4000;
ch7->Accel=40000;
ch7->Jerk=4e+006;
ch7->P=0;
ch7->I=0.01;
ch7->D=0;
ch7->FFAccel=0;
ch7->FFVel=0;
ch7->MaxI=200;
ch7->MaxErr=1e+006;
ch7->MaxOutput=200;
ch7->DeadBandGain=1;
ch7->DeadBandRange=0;
ch7->InputChan0=6;
ch7->InputChan1=0;
ch7->OutputChan0=15;
ch7->OutputChan1=0;
ch7->MasterAxis=-1;
ch7->LimitSwitchOptions=0x0;
ch7->SoftLimitPos=1e+009;
ch7->SoftLimitNeg=-1e+009;
ch7->InputGain0=-1;
ch7->InputGain1=1;
ch7->InputOffset0=0;
ch7->InputOffset1=0;
ch7->OutputGain=-1;
ch7->OutputOffset=0;
ch7->SlaveGain=1;
ch7->BacklashMode=BACKLASH_OFF;
ch7->BacklashAmount=0;
ch7->BacklashRate=0;
ch7->invDistPerCycle=1;
ch7->Lead=0;
ch7->MaxFollowingError=1000000000;
ch7->StepperAmplitude=20;
ch7->iir[0].B0=1;
ch7->iir[0].B1=0;
ch7->iir[0].B2=0;
ch7->iir[0].A1=0;
ch7->iir[0].A2=0;
ch7->iir[1].B0=1;
ch7->iir[1].B1=0;
ch7->iir[1].B2=0;
ch7->iir[1].A1=0;
ch7->iir[1].A2=0;
ch7->iir[2].B0=0.000769;
ch7->iir[2].B1=0.001538;
ch7->iir[2].B2=0.000769;
ch7->iir[2].A1=1.92076;
ch7->iir[2].A2=-0.923833;

EnableAxisDest(7,ch7->Dest);

DefineCoordSystem6(4,5,0,6,7,1);


for (;;)
{
// convert quadrature to 2 bit binary
BitA = ReadBit(QA);
PosNoWrap = (ReadBit(QB) ^ BitA) | (BitA<<1);

// Diff between expected position based on average of two prev deltas
// and position with no wraps. (Keep as X2 to avoid division by 2)

// DiffX2 = 2*(Pos-PosNoWrap) + (Change2+Change1);
DiffX2 = 2*(Pos-PosNoWrap);

// Calc quadrature wraparounds to bring Diff nearest zero
// offset by 128 wraps to avoid requiring floor()
wraps = ((DiffX2+1028)>>3)-128;

// factor in the quadrature wraparounds
NewPos = PosNoWrap + (wraps<<2);

Change2 = Change1;
Change1 = NewPos - Pos;

Pos = NewPos;


if (ReadBit(FACTOR1)) // is X1 selected?
Factor = 0.04;
else if (ReadBit(FACTOR10)) // is X10 selected?
Factor = 0.4;
else if (ReadBit(FACTOR100)) // is X100 selected?
Factor = 4.0;
else
Factor = 0.0;

if (ReadBit(SELECTX)) // is x selected?
Axis=4;
else if (ReadBit(SELECTY)) // is y selected?
Axis=5;
else if (ReadBit(SELECTZ)) // is z selected?
Axis=0;
else if (ReadBit(SELECTA)) // is A selected?
Axis=6;
else if (ReadBit(SELECTB)) // is y selected?
Axis=7;
else if (ReadBit(SELECTC)) // is y selected?
Axis=1;
else
Axis=-1;


// check if the Axis just changed or we have been
// converging to the target for a long time
if (Axis != LastAxis ||
(InMotion && Time_sec() > LastChangeTime+FINAL_TIME))
{
if (InMotion)
Move(LastAxis,Target); //finalize any motion

LastAxis = Axis;
InMotion = FALSE;
}

if (Change1) // did we move?
{
if (!InMotion) Target = chan[Axis].Dest;
Target += Change1 * Factor;
MoveExp(Axis,Target,TAU); // note: contains a WaitNextTimeSlice
LastChangeTime = Time_sec();
InMotion=TRUE;
}
else
{
WaitNextTimeSlice();
}

if (ReadBit(16)) // estop??
{
DisableAxis(0);
DisableAxis(1);
DisableAxis(4);
DisableAxis(5);
DisableAxis(6);
DisableAxis(7);
ClearBit(160);
ClearBit(144);
ClearBit(145);
ClearBit(146);
ClearBit(147);
}

WaitNextTimeSlice();
ServiceTacoRpm();
ServiceWatchdogStatus();

}

return 0;
}
// FUNCION MUESTRA AVANCE HILO EN PANTALLA
void ServiceTacoRpm(void)
{
static double T0=0.0; // remember the last time we turned on

double Q=Time_sec(); // get current Time_sec

if (T0==0.0 || Q > T0 + CYCLE_TIME)
{
double P1 = KANALOG_CONVERT_ADC_TO_VOLTS(ADC(4)); // Read current position

sprintf(TS,"%.1f dm/min\n", P1 * (100.99*VOLT/V_HILO)); // Display RPM
DROLabel(200, VEL, TS); // mandamos los datos a la pantalla

T0=Q; // set start time for the next cycle
}
}

// FUNCIONES QUE CONTROLAN LA COMUNICACION PC-KFLOP
void ServiceWatchdogStatus(void)
{
static int Alive=FALSE;
static int PrevStatusRequestCounter=-1;
static double WatchdogTime=0;
double T=Time_sec();

// check if Host is requesting Status
if (StatusRequestCounter != PrevStatusRequestCounter)
{
// yes, save time
WatchdogTime = T + WATCHDOG_DELAY;
PrevStatusRequestCounter=StatusRequestCounter;
if (!Alive) WatchdogOK();
Alive=TRUE;
}
else
{
if (T > WatchdogTime) // time to trigger?
{
if (Alive) WatchdogTripped();
Alive=FALSE;
}
}
}

void WatchdogOK(void)
{
/*
ClearBit(47); // KFLOP LED off
Delay_sec(1);
SetBit(47);
Delay_sec(1);
*/
}

void WatchdogTripped(void)
{
DisableAxis(0);
DisableAxis(1);
DisableAxis(4);
DisableAxis(5);
DisableAxis(6);
DisableAxis(7);
ClearBit(160);
ClearBit(144);
ClearBit(145);
ClearBit(146);
ClearBit(147);
}


#include "KMotionDef.h"
#include "SimpleHomeIndexFunction.c"
#define TMP 10
#include "KflopToKMotionCNCFunctions.c"
//#include "KFLOPtoPCCmdExamples.c"
// home subroutine


main()
{
int result;



ch4->LimitSwitchOptions=0x0;
ch4->SoftLimitPos=1e30;
ch4->SoftLimitNeg=-1e30;
ch5->LimitSwitchOptions=0x0;
ch5->SoftLimitPos=1e30;
ch5->SoftLimitNeg=-1e30;





// HOME X

result = SimpleHomeIndexFunction(4, // axis number to home
2000.0, // speed to move toward home
-1, // direction to move toward home (+1 or -1)
137, // limit bit number to watch for
0, // limit polarity to wait for (1 or 0)
100.0, // speed to move while searching for index
-1, // index bit number to watch for (use -1 for none)
0, // index polarity to wait for (1 or 0)
200); // amount to move inside limits
EnableAxisDest(4,0.0); // cero maquina en X
//MDI("G49");
//DoPCFloat(PC_COMM_SET_X,0.0);

if (result==0)
{
printf("Home X succeded\n");
}
else
{
printf("Home X failed\n");
return;
}

// HOME Y

result = SimpleHomeIndexFunction(5, // axis number to home
5000.0, // speed to move toward home
-1, // direction to move toward home (+1 or -1)
136, // limit bit number to watch for
0, // limit polarity to wait for (1 or 0)
100.0, // speed to move while searching for index
-1, // index bit number to watch for (use -1 for none)
1, // index polarity to wait for (1 or 0)
200); // amount to move inside limits
EnableAxisDest(5,0.0); // cero maquina en Y


if (result==0)
{
printf("Home Y succeded\n");
}
else
{
printf("Home Y failed\n");
return;
}








ch4->LimitSwitchOptions=0x0;
ch4->SoftLimitPos=500165;
ch4->SoftLimitNeg=-500;
ch5->LimitSwitchOptions=0x0;
ch5->SoftLimitPos=578500;
ch5->SoftLimitNeg=-500;


DoPC(PC_COMM_HALT); // stop KMotionCNC





}

[Rasta]

this is the testing rig
on this one the X and Y DRO reads as it should zero in machine position (red numbers)

Code: Select all

#include "KMotionDef.h"
#define TMP 10 // which spare persist to use to transfer data
#include "KflopToKMotionCNCFunctions.c"

// Example Init program that includes "smooth" MPG motion example
// which makes use of the exponential motion command.

#define QA 27 // define to which IO bits the AB signals are connected
#define QB 26

#define ESTOP_BIT 16//shorting to pin 3, 3.3v to pin 5 bit 16


#define TAU 0.08 // smoothness factor (Low Pass Time constant seconds)
#define FINAL_TIME 1.0 // Set final dest after this amount of time with no change

#define SELECTX 28
#define SELECTY 29
#define SELECTZ 30
#define SELECTA 31
#define SELECTB 32
#define SELECTC 33

#define FACTOR1 21
#define FACTOR10 34
#define FACTOR100 35

// variables calculo visualizador velocidad hilo en pantalla
void ServiceTacoRpm(void);
#define V_HILO 9.166 // velocidad de salida del hilo en mm por revolucion del motor
#define VOLT 3 // voltaje a velocidad maxima del tacometro
#define CYCLE_TIME 0.3 //seconds between velocity estimations
#define VEL 170 // usa esta variable en el DROlabel para mostrar la velocidad de giro
char TS[80];

// variables y definicion de funciones control comunicacion pc-kflop
void ServiceWatchdogStatus(void);
void WatchdogTripped(void);
void WatchdogOK(void);

#define WATCHDOG_DELAY 5.0 // seconds after host stops to Trigger


main()
{

int BitA,Change1=0,Change2=0, DiffX2;
int PosNoWrap, NewPos, Pos=0, wraps;
int InMotion=FALSE,Axis,LastAxis=-1;
double LastChangeTime=0,Target,Factor=0;

FPGA(STEP_PULSE_LENGTH_ADD) = 32 + 0x40; // set the pulse time to ~ 2µs and multiplex to JP4 and JP6
//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=3000;
ch0->Accel=60000;
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=0x0;
ch0->SoftLimitPos=1e+009;
ch0->SoftLimitNeg=-1e+009;
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,ch0->Dest);

ch1->InputMode=NO_INPUT_MODE;
ch1->OutputMode=STEP_DIR_MODE;
ch1->Vel=4000;
ch1->Accel=2000;
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=0x0;
ch1->SoftLimitPos=1e+009;
ch1->SoftLimitNeg=-1e+009;
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,ch1->Dest);

ch4->InputMode=NO_INPUT_MODE;
ch4->OutputMode=STEP_DIR_MODE;
ch4->Vel=4000;
ch4->Accel=28000;
ch4->Jerk=4e+006;
ch4->P=0;
ch4->I=0.01;
ch4->D=0;
ch4->FFAccel=0;
ch4->FFVel=0;
ch4->MaxI=200;
ch4->MaxErr=1e+006;
ch4->MaxOutput=200;
ch4->DeadBandGain=1;
ch4->DeadBandRange=0;
ch4->InputChan0=4;
ch4->InputChan1=0;
ch4->OutputChan0=12;
ch4->OutputChan1=0;
ch4->MasterAxis=-1;
ch4->LimitSwitchOptions=0x0;
ch4->SoftLimitPos=1e+008;
ch4->SoftLimitNeg=-1e+008;
ch4->InputGain0=-1;
ch4->InputGain1=1;
ch4->InputOffset0=0;
ch4->InputOffset1=0;
ch4->OutputGain=1;
ch4->OutputOffset=0;
ch4->SlaveGain=1;
ch4->BacklashMode=BACKLASH_OFF;
ch4->BacklashAmount=0;
ch4->BacklashRate=0;
ch4->invDistPerCycle=1;
ch4->Lead=0;
ch4->MaxFollowingError=1000000000;
ch4->StepperAmplitude=20;

ch4->iir[0].B0=1;
ch4->iir[0].B1=0;
ch4->iir[0].B2=0;
ch4->iir[0].A1=0;
ch4->iir[0].A2=0;

ch4->iir[1].B0=1;
ch4->iir[1].B1=0;
ch4->iir[1].B2=0;
ch4->iir[1].A1=0;
ch4->iir[1].A2=0;

ch4->iir[2].B0=0.000769;
ch4->iir[2].B1=0.001538;
ch4->iir[2].B2=0.000769;
ch4->iir[2].A1=1.92076;
ch4->iir[2].A2=-0.923833;

EnableAxisDest(4,ch4->Dest);

ch5->InputMode=NO_INPUT_MODE;
ch5->OutputMode=STEP_DIR_MODE;
ch5->Vel=4000;
ch5->Accel=40000;
ch5->Jerk=4e+006;
ch5->P=0;
ch5->I=0.01;
ch5->D=0;
ch5->FFAccel=0;
ch5->FFVel=0;
ch5->MaxI=200;
ch5->MaxErr=1e+006;
ch5->MaxOutput=200;
ch5->DeadBandGain=1;
ch5->DeadBandRange=0;
ch5->InputChan0=4;
ch5->InputChan1=0;
ch5->OutputChan0=13;
ch5->OutputChan1=0;
ch5->MasterAxis=-1;
ch5->LimitSwitchOptions=0x0;
ch5->SoftLimitPos=1e+009;
ch5->SoftLimitNeg=-1e+009;
ch5->InputGain0=-1;
ch5->InputGain1=1;
ch5->InputOffset0=0;
ch5->InputOffset1=0;
ch5->OutputGain=-1;
ch5->OutputOffset=0;
ch5->SlaveGain=1;
ch5->BacklashMode=BACKLASH_LINEAR;
ch5->BacklashAmount=55.62;
ch5->BacklashRate=500;
ch5->invDistPerCycle=1;
ch5->Lead=0;
ch5->MaxFollowingError=1000000000;
ch5->StepperAmplitude=20;
ch5->iir[0].B0=1;
ch5->iir[0].B1=0;
ch5->iir[0].B2=0;
ch5->iir[0].A1=0;
ch5->iir[0].A2=0;
ch5->iir[1].B0=1;
ch5->iir[1].B1=0;
ch5->iir[1].B2=0;
ch5->iir[1].A1=0;
ch5->iir[1].A2=0;
ch5->iir[2].B0=0.000769;
ch5->iir[2].B1=0.001538;
ch5->iir[2].B2=0.000769;
ch5->iir[2].A1=1.92076;
ch5->iir[2].A2=-0.923833;

EnableAxisDest(5,ch5->Dest);

ch6->InputMode=NO_INPUT_MODE;
ch6->OutputMode=STEP_DIR_MODE;
ch6->Vel=4000;
ch6->Accel=40000;
ch6->Jerk=4e+006;
ch6->P=0;
ch6->I=0.01;
ch6->D=0;
ch6->FFAccel=0;
ch6->FFVel=0;
ch6->MaxI=200;
ch6->MaxErr=1e+006;
ch6->MaxOutput=200;
ch6->DeadBandGain=1;
ch6->DeadBandRange=0;
ch6->InputChan0=6;
ch6->InputChan1=0;
ch6->OutputChan0=14;
ch6->OutputChan1=0;
ch6->MasterAxis=-1;
ch6->LimitSwitchOptions=0x0;
ch6->SoftLimitPos=1e+009;
ch6->SoftLimitNeg=-1e+009;
ch6->InputGain0=-1;
ch6->InputGain1=1;
ch6->InputOffset0=0;
ch6->InputOffset1=0;
ch6->OutputGain=1;
ch6->OutputOffset=0;
ch6->SlaveGain=1;
ch6->BacklashMode=BACKLASH_OFF;
ch6->BacklashAmount=0;
ch6->BacklashRate=0;
ch6->invDistPerCycle=1;
ch6->Lead=0;
ch6->MaxFollowingError=1000000000;
ch6->StepperAmplitude=20;
ch6->iir[0].B0=1;
ch6->iir[0].B1=0;
ch6->iir[0].B2=0;
ch6->iir[0].A1=0;
ch6->iir[0].A2=0;
ch6->iir[1].B0=1;
ch6->iir[1].B1=0;
ch6->iir[1].B2=0;
ch6->iir[1].A1=0;
ch6->iir[1].A2=0;
ch6->iir[2].B0=0.000769;
ch6->iir[2].B1=0.001538;
ch6->iir[2].B2=0.000769;
ch6->iir[2].A1=1.92076;
ch6->iir[2].A2=-0.923833;

EnableAxisDest(6,ch6->Dest);

ch7->InputMode=NO_INPUT_MODE;
ch7->OutputMode=STEP_DIR_MODE;
ch7->Vel=4000;
ch7->Accel=40000;
ch7->Jerk=4e+006;
ch7->P=0;
ch7->I=0.01;
ch7->D=0;
ch7->FFAccel=0;
ch7->FFVel=0;
ch7->MaxI=200;
ch7->MaxErr=1e+006;
ch7->MaxOutput=200;
ch7->DeadBandGain=1;
ch7->DeadBandRange=0;
ch7->InputChan0=6;
ch7->InputChan1=0;
ch7->OutputChan0=15;
ch7->OutputChan1=0;
ch7->MasterAxis=-1;
ch7->LimitSwitchOptions=0x0;
ch7->SoftLimitPos=1e+009;
ch7->SoftLimitNeg=-1e+009;
ch7->InputGain0=-1;
ch7->InputGain1=1;
ch7->InputOffset0=0;
ch7->InputOffset1=0;
ch7->OutputGain=-1;
ch7->OutputOffset=0;
ch7->SlaveGain=1;
ch7->BacklashMode=BACKLASH_OFF;
ch7->BacklashAmount=0;
ch7->BacklashRate=0;
ch7->invDistPerCycle=1;
ch7->Lead=0;
ch7->MaxFollowingError=1000000000;
ch7->StepperAmplitude=20;
ch7->iir[0].B0=1;
ch7->iir[0].B1=0;
ch7->iir[0].B2=0;
ch7->iir[0].A1=0;
ch7->iir[0].A2=0;
ch7->iir[1].B0=1;
ch7->iir[1].B1=0;
ch7->iir[1].B2=0;
ch7->iir[1].A1=0;
ch7->iir[1].A2=0;
ch7->iir[2].B0=0.000769;
ch7->iir[2].B1=0.001538;
ch7->iir[2].B2=0.000769;
ch7->iir[2].A1=1.92076;
ch7->iir[2].A2=-0.923833;

EnableAxisDest(7,ch7->Dest);

DefineCoordSystem6(4,5,0,6,7,1);


for (;;)
{
// convert quadrature to 2 bit binary
BitA = ReadBit(QA);
PosNoWrap = (ReadBit(QB) ^ BitA) | (BitA<<1);

// Diff between expected position based on average of two prev deltas
// and position with no wraps. (Keep as X2 to avoid division by 2)

// DiffX2 = 2*(Pos-PosNoWrap) + (Change2+Change1);
DiffX2 = 2*(Pos-PosNoWrap);

// Calc quadrature wraparounds to bring Diff nearest zero
// offset by 128 wraps to avoid requiring floor()
wraps = ((DiffX2+1028)>>3)-128;

// factor in the quadrature wraparounds
NewPos = PosNoWrap + (wraps<<2);

Change2 = Change1;
Change1 = NewPos - Pos;

Pos = NewPos;


if (ReadBit(FACTOR1)) // is X1 selected?
Factor = 0.04;
else if (ReadBit(FACTOR10)) // is X10 selected?
Factor = 0.4;
else if (ReadBit(FACTOR100)) // is X100 selected?
Factor = 4.0;
else
Factor = 0.0;

if (ReadBit(SELECTX)) // is x selected?
Axis=4;
else if (ReadBit(SELECTY)) // is y selected?
Axis=5;
else if (ReadBit(SELECTZ)) // is z selected?
Axis=0;
else if (ReadBit(SELECTA)) // is A selected?
Axis=6;
else if (ReadBit(SELECTB)) // is y selected?
Axis=7;
else if (ReadBit(SELECTC)) // is y selected?
Axis=1;
else
Axis=-1;


// check if the Axis just changed or we have been
// converging to the target for a long time
if (Axis != LastAxis ||
(InMotion && Time_sec() > LastChangeTime+FINAL_TIME))
{
if (InMotion)
Move(LastAxis,Target); //finalize any motion

LastAxis = Axis;
InMotion = FALSE;
}

if (Change1) // did we move?
{
if (!InMotion) Target = chan[Axis].Dest;
Target += Change1 * Factor;
MoveExp(Axis,Target,TAU); // note: contains a WaitNextTimeSlice
LastChangeTime = Time_sec();
InMotion=TRUE;
}
else
{
WaitNextTimeSlice();
}

if (ReadBit(16)) // estop??
{
DisableAxis(0);
DisableAxis(1);
DisableAxis(4);
DisableAxis(5);
DisableAxis(6);
DisableAxis(7);
ClearBit(160);
ClearBit(144);
ClearBit(145);
ClearBit(146);
ClearBit(147);
}

WaitNextTimeSlice();
ServiceTacoRpm();
ServiceWatchdogStatus();

}

return 0;
}
// FUNCION MUESTRA AVANCE HILO EN PANTALLA
void ServiceTacoRpm(void)
{
static double T0=0.0; // remember the last time we turned on

double Q=Time_sec(); // get current Time_sec

if (T0==0.0 || Q > T0 + CYCLE_TIME)
{
double P1 = KANALOG_CONVERT_ADC_TO_VOLTS(ADC(4)); // Read current position

sprintf(TS,"%.1f dm/min\n", P1 * (100.99*VOLT/V_HILO)); // Display RPM
DROLabel(200, VEL, TS); // mandamos los datos a la pantalla

T0=Q; // set start time for the next cycle
}
}

// FUNCIONES QUE CONTROLAN LA COMUNICACION PC-KFLOP
void ServiceWatchdogStatus(void)
{
static int Alive=FALSE;
static int PrevStatusRequestCounter=-1;
static double WatchdogTime=0;
double T=Time_sec();

// check if Host is requesting Status
if (StatusRequestCounter != PrevStatusRequestCounter)
{
// yes, save time
WatchdogTime = T + WATCHDOG_DELAY;
PrevStatusRequestCounter=StatusRequestCounter;
if (!Alive) WatchdogOK();
Alive=TRUE;
}
else
{
if (T > WatchdogTime) // time to trigger?
{
if (Alive) WatchdogTripped();
Alive=FALSE;
}
}
}

void WatchdogOK(void)
{
/*
ClearBit(47); // KFLOP LED off
Delay_sec(1);
SetBit(47);
Delay_sec(1);
*/
}

void WatchdogTripped(void)
{
DisableAxis(0);
DisableAxis(1);
DisableAxis(4);
DisableAxis(5);
DisableAxis(6);
DisableAxis(7);
ClearBit(160);
ClearBit(144);
ClearBit(145);
ClearBit(146);
ClearBit(147);
}


#include "KMotionDef.h"
#include "SimpleHomeIndexFunction.c"
#define TMP 10
#include "KflopToKMotionCNCFunctions.c"
//#include "KFLOPtoPCCmdExamples.c"
// home subroutine


main()
{
int result;



ch4->LimitSwitchOptions=0x0;
ch4->SoftLimitPos=1e30;
ch4->SoftLimitNeg=-1e30;
ch5->LimitSwitchOptions=0x0;
ch5->SoftLimitPos=1e30;
ch5->SoftLimitNeg=-1e30;





// HOME X

result = SimpleHomeIndexFunction(4, // axis number to home
2000.0, // speed to move toward home
-1, // direction to move toward home (+1 or -1)
137, // limit bit number to watch for
0, // limit polarity to wait for (1 or 0)
100.0, // speed to move while searching for index
-1, // index bit number to watch for (use -1 for none)
0, // index polarity to wait for (1 or 0)
200); // amount to move inside limits
EnableAxisDest(4,0.0); // cero maquina en X
//MDI("G49");
//DoPCFloat(PC_COMM_SET_X,0.0);

if (result==0)
{
printf("Home X succeded\n");
}
else
{
printf("Home X failed\n");
return;
}

// HOME Y

result = SimpleHomeIndexFunction(5, // axis number to home
5000.0, // speed to move toward home
-1, // direction to move toward home (+1 or -1)
136, // limit bit number to watch for
0, // limit polarity to wait for (1 or 0)
100.0, // speed to move while searching for index
-1, // index bit number to watch for (use -1 for none)
1, // index polarity to wait for (1 or 0)
200); // amount to move inside limits
EnableAxisDest(5,0.0); // cero maquina en Y


if (result==0)
{
printf("Home Y succeded\n");
}
else
{
printf("Home Y failed\n");
return;
}








ch4->LimitSwitchOptions=0x0;
ch4->SoftLimitPos=500165;
ch4->SoftLimitNeg=-500;
ch5->LimitSwitchOptions=0x0;
ch5->SoftLimitPos=578500;
ch5->SoftLimitNeg=-500;


DoPC(PC_COMM_HALT); // stop KMotionCNC





}

[TomKerekes]

Are you saying after a power cycle on KFLOP and only launching KMotionCNC the XY DROs show 25.4?

[Rasta]

Hi Tom;
I turn on the computer, at this time the kflop has no power( have a toggle switch that is off when the computer is booting .
when the computer finish the booting sequence, then I start Kmotion CNC , at this time the DRO shows
X 0000 Y 0000, in yellow numbers, also at this time the Kflop is off.
Then I apply power to the Kflop, and after the kflop finish the booting sequence the readout changes to
X25.4000 Y 25.4000, still in yellow numbers , because the initialization program is not running yet.
if I turn off the power at this time to the kflop, a message will pop up saying Read Failed ,auto disconnet
thanks for your help
Mariano