Hi turbothis,
ok all the zeros in the settings have been removed.
Well where are the Axes commanded to? Did you ever initialize or zero them? What does the KMotion.exe Axis Screen report?
Note: the "Zero" buttons on the KMotionCNC screen do not Zero the Machine Coordinates. It assumes the Machine Coordinates always correctly reflect the position of the machine. Instead it introduces a GCode offset
Please post your initialization file so we know how your axes and coordinated motion system defined.
totally overwhelmed! start over info
Moderators: TomKerekes, dynomotion
-
TomKerekes
- Posts: 2741
- Joined: Mon Dec 04, 2017 1:49 am
Re: totally overwhelmed! start over info
Regards,
Tom Kerekes
Dynomotion, Inc.
Tom Kerekes
Dynomotion, Inc.
Re: totally overwhelmed! start over info
i dont have the A and X axis in the same program yet. i was hammering out the details individually first. bad idea?
i only have 1 cable to output to a amplifier. more coming in the mail. this is why one axis at a time and both ch0
not sure what the other things you are talking about. i assume i did not do them yet
i only have 1 cable to output to a amplifier. more coming in the mail. this is why one axis at a time and both ch0
not sure what the other things you are talking about. i assume i did not do them yet
Code: Select all
#include "KMotionDef.h"
// Home and set the commutation for a 3 phase brushless motor
// that is driven using two DAC Outputs
//
// Phase rotates until index mark is located and Encoder Zeroed
// Function definitions
// x must be in the range 0->1 returns sin(x) and sin(x+120 degrees)
float Sine3PH (float x, float *sin2);
// put a voltage v on a 3 Phase motor at specified commutation angle
void Write3PH_DACs(CHAN *ch0, float v, double angle_in_cycles);
// return fractional part of a huge number accurately
float fractionf(double v);
void main()
{
float k=0,A=200; // set coil current amplitude DAC units
double p0;
// define the axis as 3 phase BRUSHLESS_3PH_MODE
ch0->InputMode=ENCODER_MODE;
ch0->OutputMode=NO_OUTPUT_MODE;
ch0->Vel=5000;
ch0->Accel=5000000;
ch0->Jerk=30000000;
ch0->P=4;
ch0->I=0;
ch0->D=30;
ch0->FFAccel=0;
ch0->FFVel=0;
ch0->MaxI=200;
ch0->MaxErr=1e+006;
ch0->MaxOutput=5000;
ch0->DeadBandGain=1;
ch0->DeadBandRange=0;
ch0->InputChan0=0;
ch0->InputChan1=0;
ch0->OutputChan0=0;
ch0->OutputChan1=1;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x0;
ch0->SoftLimitPos=1e+030;
ch0->SoftLimitNeg=-1e+030;
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=-0.0004;
ch0->Lead=0;
ch0->MaxFollowingError=1000000;
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=1;
ch0->iir[2].B1=0;
ch0->iir[2].B2=0;
ch0->iir[2].A1=0;
ch0->iir[2].A2=0;
// rotate until we find the index mark
ch0->Enable=FALSE;
for (;;)
{
WaitNextTimeSlice();
Write3PH_DACs(ch0,A, ++k/1000.0); // move the pole
if (ReadBit(40)) // check for index mark
{
p0=ch0->Position; // save position
ch0->Position=0; // set current position to Zero
ch0->CommutationOffset = 658; // from auto phase find
printf("Position = %f\n",p0);
break;
}
}
EnableAxisDest(0,0.0f); // Enable servo at destination of 0
EnableAxisDest(2,0.0f); // Enable servo at destination of 0
DefineCoordSystem(0,-1,-1,2); // define which axes are in use
// Loop forever outputting Servo output to dual DAC_SERVO_MODE
for (;;)
{
CHAN *ch=ch0;
if (ch->Enable) // if axis enabled commutate and output else command zero to DACs
Write3PH_DACs(ch, ch->Output, (ch->Position + ch->CommutationOffset) * ch->invDistPerCycle);
else
Write3PH_DACs(ch, 0.0, 0.0);
}
}
// put a voltage v on a 3 Phase motor at specified commutation angle
void Write3PH_DACs(CHAN *ch, float v, double angle_in_cycles)
{
float theta,sin1f;
if (angle_in_cycles<0)
theta = 1.0f-fractionf(-angle_in_cycles);
else
theta = fractionf(angle_in_cycles);
DAC(ch->OutputChan0, (int)(v * Sine3PH(theta,&sin1f)));
DAC(ch->OutputChan1, (int)(v * sin1f));
}
Code: Select all
#include "KMotionDef.h"
// Home and set the commutation for a 3 phase brushless motor
// that is driven using two DAC Outputs
//
// Phase rotates until index mark is located and Encoder Zeroed
// Function definitions
// x must be in the range 0->1 returns sin(x) and sin(x+120 degrees)
float Sine3PH (float x, float *sin2);
// put a voltage v on a 3 Phase motor at specified commutation angle
void Write3PH_DACs(CHAN *ch2, float v, double angle_in_cycles);
// return fractional part of a huge number accurately
float fractionf(double v);
void main()
{
float k=0,A=200; // set coil current amplitude DAC units
double p0;
// define the axis as 3 phase BRUSHLESS_3PH_MODE
ch2->InputMode=ENCODER_MODE;
ch2->OutputMode=NO_OUTPUT_MODE;
ch2->Vel=500;
ch2->Accel=50000;
ch2->Jerk=300000;
ch2->P=1;
ch2->I=0;
ch2->D=0;
ch2->FFAccel=0;
ch2->FFVel=0;
ch2->MaxI=200;
ch2->MaxErr=1e+006;
ch2->MaxOutput=500;
ch2->DeadBandGain=1;
ch2->DeadBandRange=0;
ch2->InputChan0=2;
ch2->InputChan1=2;
ch2->OutputChan0=0;
ch2->OutputChan1=1;
ch2->MasterAxis=-1;
ch2->LimitSwitchOptions=0x0;
ch2->SoftLimitPos=1e+030;
ch2->SoftLimitNeg=-1e+030;
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=0.0003662109375;
ch2->Lead=0;
ch2->MaxFollowingError=1000000;
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=1;
ch2->iir[2].B1=0;
ch2->iir[2].B2=0;
ch2->iir[2].A1=0;
ch2->iir[2].A2=0;
// rotate until we find the index mark
ch2->Enable=FALSE;
for (;;)
{
WaitNextTimeSlice();
Write3PH_DACs(ch2,A, ++k/1000.0); // move the pole
if (ReadBit(38)) // check for index mark
{
p0=ch2->Position; // save position
ch2->Position=0; // set current position to Zero
ch2->CommutationOffset = 1920; // from auto phase find
printf("Position = %f\n",p0);
break;
}
}
EnableAxisDest(0,0.0f); // Enable servo at destination of 0
EnableAxisDest(2,0.0f); // Enable servo at destination of 0
DefineCoordSystem(0,-1,-1,2); // define which axes are in use
// Loop forever outputting Servo output to dual DAC_SERVO_MODE
for (;;)
{
CHAN *ch=ch2;
if (ch->Enable) // if axis enabled commutate and output else command zero to DACs
Write3PH_DACs(ch, ch->Output, (ch->Position + ch->CommutationOffset) * ch->invDistPerCycle);
else
Write3PH_DACs(ch, 0.0, 0.0);
}
}
// put a voltage v on a 3 Phase motor at specified commutation angle
void Write3PH_DACs(CHAN *ch, float v, double angle_in_cycles)
{
float theta,sin1f;
if (angle_in_cycles<0)
theta = 1.0f-fractionf(-angle_in_cycles);
else
theta = fractionf(angle_in_cycles);
DAC(ch->OutputChan0, (int)(v * Sine3PH(theta,&sin1f)));
DAC(ch->OutputChan1, (int)(v * sin1f));
}
-
TomKerekes
- Posts: 2741
- Joined: Mon Dec 04, 2017 1:49 am
Re: totally overwhelmed! start over info
Hi turbothis,
Ok none of the Axis numbers (although some are huge) are infinity or nan's. Does KMotionCNC DRO's still show nan?
If so, the other possibility is through all this confusion some GCode offset is set to nan. Please post Screen shots of the Edit Fixture Offsets Screen and the Edit Tool File Screen.
You might also display Machine Coords in the KMotionCNC DROs. This eliminates any Offsets and displays raw Machine Coordinates without any potential garbage GCode offsets.
Side note: even after the long discussion on Z Index Bits the programs seem to be using 38 and 40 incorrectly.
Ok none of the Axis numbers (although some are huge) are infinity or nan's. Does KMotionCNC DRO's still show nan?
If so, the other possibility is through all this confusion some GCode offset is set to nan. Please post Screen shots of the Edit Fixture Offsets Screen and the Edit Tool File Screen.
You might also display Machine Coords in the KMotionCNC DROs. This eliminates any Offsets and displays raw Machine Coordinates without any potential garbage GCode offsets.
Side note: even after the long discussion on Z Index Bits the programs seem to be using 38 and 40 incorrectly.
Probably part of the confusion. You basically have 2 different Initialization programs. Both configure only KFLOP Axis 0 but both include both axis 0 and 2 into the coordinate system. If you want to test only one axis that is fine but don't also include other axes that haven't even been configured.i dont have the A and X axis in the same program yet. i was hammering out the details individually first. bad idea?
Regards,
Tom Kerekes
Dynomotion, Inc.
Tom Kerekes
Dynomotion, Inc.
Re: totally overwhelmed! start over info
sorry for the messy-ness
1 i am downloaded a fresh kmotion
2 i cut my 2 programs together and added in a clone of the X axis as the Z axis is the same servo and encoder
see what you think, it did compile. lol
should the last lines have more channels in them??? or is that the chx that sorts them out
"
DAC(chx->OutputChan0, (int)(v * Sine3PH(theta,&sin1f)));
DAC(chx->OutputChan1, (int)(v * sin1f));
"
1 i am downloaded a fresh kmotion
2 i cut my 2 programs together and added in a clone of the X axis as the Z axis is the same servo and encoder
see what you think, it did compile. lol
should the last lines have more channels in them??? or is that the chx that sorts them out
"
DAC(chx->OutputChan0, (int)(v * Sine3PH(theta,&sin1f)));
DAC(chx->OutputChan1, (int)(v * sin1f));
"
Code: Select all
#include "KMotionDef.h"
// Home and set the commutation for a 3 phase brushless motor // that is driven using two DAC Outputs // // Phase rotates until index mark is located and Encoder Zeroed
// Function definitions
// x must be in the range 0->1 returns sin(x) and sin(x+120 degrees)
float Sine3PH (float x, float *sin2);
// put a voltage v on a 3 Phase motor at specified commutation angle
void Write3PH_DACs(CHAN *chx, float v, double angle_in_cycles);
// return fractional part of a huge number accurately
float fractionf(double v);
// Main function entry point
void main()
{
float k=0,A=200; // set coil current amplitude DAC units
double p0;
ch0->InputMode=ENCODER_MODE;
ch0->OutputMode=NO_OUTPUT_MODE;
ch0->Vel=5000;
ch0->Accel=5000000;
ch0->Jerk=30000000;
ch0->P=4;
ch0->I=0;
ch0->D=30;
ch0->FFAccel=0;
ch0->FFVel=0;
ch0->MaxI=200;
ch0->MaxErr=1e+006;
ch0->MaxOutput=2000;
ch0->DeadBandGain=1;
ch0->DeadBandRange=0;
ch0->InputChan0=0;
ch0->InputChan1=0;
ch0->OutputChan0=0;
ch0->OutputChan1=1;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x0;
ch0->SoftLimitPos=1e+030;
ch0->SoftLimitNeg=-1e+030;
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=0.0004;
ch0->Lead=0;
ch0->MaxFollowingError=1000000;
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=1;
ch0->iir[2].B1=0;
ch0->iir[2].B2=0;
ch0->iir[2].A1=0;
ch0->iir[2].A2=0;
ch1->InputMode=ENCODER_MODE;
ch1->OutputMode=NO_OUTPUT_MODE;
ch1->Vel=5000;
ch1->Accel=5000000;
ch1->Jerk=30000000;
ch1->P=4;
ch1->I=0;
ch1->D=30;
ch1->FFAccel=0;
ch1->FFVel=0;
ch1->MaxI=200;
ch1->MaxErr=1e+006;
ch1->MaxOutput=2000;
ch1->DeadBandGain=1;
ch1->DeadBandRange=0;
ch1->InputChan0=1;
ch1->InputChan1=1;
ch1->OutputChan0=2;
ch1->OutputChan1=3;
ch1->MasterAxis=-1;
ch1->LimitSwitchOptions=0x0;
ch1->SoftLimitPos=1e+030;
ch1->SoftLimitNeg=-1e+030;
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=0.0004;
ch1->Lead=0;
ch1->MaxFollowingError=1000000;
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=1;
ch1->iir[2].B1=0;
ch1->iir[2].B2=0;
ch1->iir[2].A1=0;
ch1->iir[2].A2=0;
ch2->InputMode=ENCODER_MODE;
ch2->OutputMode=NO_OUTPUT_MODE;
ch2->Vel=500;
ch2->Accel=50000;
ch2->Jerk=300000;
ch2->P=1;
ch2->I=0;
ch2->D=1;
ch2->FFAccel=0;
ch2->FFVel=0;
ch2->MaxI=200;
ch2->MaxErr=1e+006;
ch2->MaxOutput=2000;
ch2->DeadBandGain=1;
ch2->DeadBandRange=0;
ch2->InputChan0=2;
ch2->InputChan1=2;
ch2->OutputChan0=4;
ch2->OutputChan1=5;
ch2->MasterAxis=-1;
ch2->LimitSwitchOptions=0x0;
ch2->SoftLimitPos=1e+030;
ch2->SoftLimitNeg=-1e+030;
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=0.0003662109375;
ch2->Lead=0;
ch2->MaxFollowingError=1000000;
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=1;
ch2->iir[2].B1=0;
ch2->iir[2].B2=0;
ch2->iir[2].A1=0;
ch2->iir[2].A2=0;
// rotate until we find the index mark
// Use f0 and f1 and f2 to flag when index found for ch0 and ch1 and ch2->
// Break out when both indexes found (f0=1 and f1=1 and f2=1)
ch0->Enable=FALSE;
ch1->Enable=FALSE;
ch2->Enable=FALSE;
int f0,f1,f2; // Index found flags
f0=0;f1=0;f2=0; // Set all to index not found
for (;;) //Indefinite loop
{
if (f0==1 && f1==1 && f2==1) break; // Done if all indexes found
//
if (f0==0) // If Ch0 index not found
{
WaitNextTimeSlice();
Write3PH_DACs(ch0,A, ++k/10000.0); // move the pole
if (ReadBit(36)) // check for index mark ch0
{
p0=ch0->Position; // Index found so save position
ch0->Position=0; // set current position to Zero
ch0->CommutationOffset = 658; // from auto phase find
printf("Position ch0 = %f\n",p0);
f0=1; // Mark as ch0 index found
} // End readbit
} // End if f0=0
//
if (f1==0) // If Ch1 index not found
{
WaitNextTimeSlice();
Write3PH_DACs(ch1,A, ++k/10000.0); // move the pole
if (ReadBit(37)) // check for index mark ch1
{
p0=ch1->Position; // Index found so save position
ch1->Position=0; // set current position to Zero
ch1->CommutationOffset = 658; // from auto phase find
printf("Position ch1 = %f\n",p0);
f1=1; // Mark as ch1 index found
} // End readbit
} // End f1=0
//
if (f2==0) // If Ch2 index not found
{
WaitNextTimeSlice();
Write3PH_DACs(ch2,A, ++k/10000.0); // move the pole
if (ReadBit(38)) // check for index mark ch2
{
p0=ch2->Position; // Index found so save position
ch2->Position=0; // set current position to Zero
ch2->CommutationOffset = 1920; // from auto phase find
printf("Position ch2 = %f\n",p0);
f2=1; // Mark as ch2 index found
} // End readbit
} // End f2=0
} // End for loop
EnableAxisDest(0,0.0f); // Enable servo at destination of 0
EnableAxisDest(1,0.0f); // Enable servo at destination of 0
EnableAxisDest(2,0.0f); // Enable servo at destination of 0
DefineCoordSystem(0,1,-1,2); // define which axes are in use
// Loop forever outputting Servo output to dual DAC_SERVO_MODE
for (;;)
{
WaitNextTimeSlice();
if (ch0->Enable) // if axis enabled commutate and output else command zero to DACs
Write3PH_DACs(ch0,ch0->Output, (ch0->Position + ch0->CommutationOffset) * ch0->invDistPerCycle);
else
Write3PH_DACs(ch0, 0.0,0.0);
if (ch1->Enable) // if axis enabled commutate and output else command zero to DACs
Write3PH_DACs(ch1,ch1->Output, (ch1->Position + ch1->CommutationOffset) * ch1->invDistPerCycle);
else
Write3PH_DACs(ch1, 0.0,0.0);
if (ch2->Enable) // if axis enabled commutate and output else command zero to DACs
Write3PH_DACs(ch2,ch2->Output, (ch2->Position + ch2->CommutationOffset) * ch2->invDistPerCycle);
else
Write3PH_DACs(ch2, 0.0,0.0);
} // End for loop
} // End main()
// put a voltage v on a 3 Phase motor at specified commutation angle
void Write3PH_DACs(CHAN *chx, float v, double angle_in_cycles)
{
float theta,sin1f;
if (angle_in_cycles<0)
theta = 1.0f-fractionf(-angle_in_cycles);
else
theta = fractionf(angle_in_cycles);
DAC(chx->OutputChan0, (int)(v * Sine3PH(theta,&sin1f)));
DAC(chx->OutputChan1, (int)(v * sin1f));
} // End Write3PH()
Re: totally overwhelmed! start over info
ok great it worked
when i pasted in the data folder the problem was there so i just kept the original data folder and manually inputted my specs.
now i need to hurry up and get my cables in the main and wire up the whole mess and see what happens
thanks for the help and i assume i will need more soon. the spindle jog program.....
i hope to get this running and then start playing with smaller accessory programs like flood, the A axis rotation in 0-360 degrees, maybe a small tool changer too
when i pasted in the data folder the problem was there so i just kept the original data folder and manually inputted my specs.
now i need to hurry up and get my cables in the main and wire up the whole mess and see what happens
thanks for the help and i assume i will need more soon. the spindle jog program.....
i hope to get this running and then start playing with smaller accessory programs like flood, the A axis rotation in 0-360 degrees, maybe a small tool changer too