The error is:
Soft Limit Actuator -284272 Limit -13000 Y- Rapid Traverse
Soft Limits disabled for remainder of Simulation
(screenshot also attached)
I tried commenting out my soft limits codes or setting them to really large numbers but still shows the same error.
The init code:
Code: Select all
#include "KMotionDef.h"
#define TMP 10
#include "KflopToKMotionCNCFunctions.c"
// Function to read from ADC and convert to temperature
void readtemp() {
// Access the ADC channel for Kogna ADCs
int adc_value = Kogna_ADC_Buffer[0];
// Use the provided macro to convert ADC value to voltage
float voltage = KOGNA_CONVERT_ADC_TO_VOLTS(adc_value);
// Convert voltage reading to temperature
float temp_range = 100.0 - 0.0;
float voltage_range = 5 - 0.0;
float temp = ((voltage - 0.0) / voltage_range) * temp_range + 0.0;
char s[80];
sprintf(s, "%.2f °C\n", temp);
DROLabel(1000, 162, s);
// Print results
printf("The ADC reading is %d, which corresponds to a voltage of %.2f V.\n", adc_value, voltage);
printf("This voltage corresponds to a temperature of %.2f °C.\n", temp);
}
//function for defining origin
void HomeAxis(int axis, float jogSpeed, int originBit) {
//disable limit switch if needed
Jog(axis, jogSpeed); //jog until it sees the limit, jog speed TBT
while (ReadBit(originBit) == 1); // Wait until the origin is found
Jog(axis, 0); // Stop the axis
while (!CheckDone(axis)); // Ensure the axis has fully stopped
Zero(axis); // Zero the axis at the origin position
}
int main()
{
//thread 1 initialization
InitAux();
AddKonnect_Aux0(0, &VirtualBits, VirtualBitsEx);
FPGA(STEP_PULSE_LENGTH_ADD) = 63 + 0x80;
//thread 2 axis set up
extern int VirtualBitsEx[N_VIRTUAL_BITS_EX / 32]; // 1024 Expanded Virtual Bits (1024-2047)
FPGA(STEP_PULSE_LENGTH_ADD) = 63 + 0x80; // set polarity and pulse length to 4us
//ch0=x
ch0->InputMode = NO_INPUT_MODE;
ch0->OutputMode = STEP_DIR_MODE;
ch0->Vel = 40000;
ch0->Accel = 200000;
ch0->Jerk = 4e+006;
ch0->P = 0;
ch0->I = 0.01;
ch0->D = 0;
ch0->FFAccel = 0; //feed foward acceleration
ch0->FFVel = 0; //feed foward velocity
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 = 0x110;
ch0->LimitSwitchNegBit = 1025;
ch0->LimitSwitchPosBit = 1024;
ch0->SoftLimitPos = 56000; //TBT
ch0->SoftLimitNeg = -56000; //TBT
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=y axis
ch1->InputMode = NO_INPUT_MODE;
ch1->OutputMode = STEP_DIR_MODE;
ch1->Vel = 40000;
ch1->Accel = 200000;
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 = 0x110;
ch1->LimitSwitchNegBit = 1028;
ch1->LimitSwitchPosBit = 1027;
ch1->SoftLimitPos = 13000; //TBT
ch1->SoftLimitNeg = -13000; //TBT
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=Z' axis
ch2->InputMode = NO_INPUT_MODE;
ch2->OutputMode = STEP_DIR_MODE;
ch2->Vel = 40000;
ch2->Accel = 200000;
ch2->Jerk = 4e+006;
ch2->P = 0;
ch2->I = 0.01;
ch2->D = 0;
ch2->FFAccel = 40;
ch2->FFVel = 100;
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 = 0x0;//no hardware limit
ch2->SoftLimitPos = 1e+009; //no limit
ch2->SoftLimitNeg = -1e+009; //no limit
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 = 1;
ch2->iir[2].B1 = 0;
ch2->iir[2].B2 = 0;
ch2->iir[2].A1 = 0;
ch2->iir[2].A2 = 0;
EnableAxisDest(2, 0);
//ch3=Y' axis
ch3->InputMode = NO_INPUT_MODE;
ch3->OutputMode = STEP_DIR_MODE;
ch3->Vel = 40000;
ch3->Accel = 200000;
ch3->Jerk = 4e+006;
ch3->P = 0;
ch3->I = 0.01;
ch3->D = 0;
ch3->FFAccel = 0;
ch3->FFVel = 0;
ch3->MaxI = 200;
ch3->MaxErr = 1e+006;
ch3->MaxOutput = 200;
ch3->DeadBandGain = 1;
ch3->DeadBandRange = 0;
ch3->InputChan0 = 0;
ch3->InputChan1 = 0;
ch3->OutputChan0 = 11;
ch3->OutputChan1 = 0;
ch3->MasterAxis = -1;
ch3->LimitSwitchOptions = 0x110;
ch3->LimitSwitchNegBit = 1036;
ch3->LimitSwitchPosBit = 1035;
ch3->SoftLimitPos = 47222.22222; //TBT
ch3->SoftLimitNeg = -47222.22222; //TBT
ch3->InputGain0 = 1;
ch3->InputGain1 = 1;
ch3->InputOffset0 = 0;
ch3->InputOffset1 = 0;
ch3->OutputGain = -1;
ch3->OutputOffset = 0;
ch3->SlaveGain = 1;
ch3->BacklashMode = BACKLASH_OFF;
ch3->BacklashAmount = 0;
ch3->BacklashRate = 0;
ch3->invDistPerCycle = 1;
ch3->Lead = 0;
ch3->MaxFollowingError = 1000000000;
ch3->StepperAmplitude = 20;
ch3->iir[0].B0 = 1;
ch3->iir[0].B1 = 0;
ch3->iir[0].B2 = 0;
ch3->iir[0].A1 = 0;
ch3->iir[0].A2 = 0;
ch3->iir[1].B0 = 1;
ch3->iir[1].B1 = 0;
ch3->iir[1].B2 = 0;
ch3->iir[1].A1 = 0;
ch3->iir[1].A2 = 0;
ch3->iir[2].B0 = 1;
ch3->iir[2].B1 = 0;
ch3->iir[2].B2 = 0;
ch3->iir[2].A1 = 0;
ch3->iir[2].A2 = 0;
EnableAxisDest(3, 0);
//ch4=Z axis
ch4->InputMode = NO_INPUT_MODE;
ch4->OutputMode = STEP_DIR_MODE;
ch4->Vel = 4000;
ch4->Accel = 40000;
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 = 0x110;
ch4->LimitSwitchNegBit = 1033;
ch4->LimitSwitchPosBit = 1032;
ch4->SoftLimitPos = 15625; //TBT
ch4->SoftLimitNeg = -15625; //TBT
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, 0);
//ch5=polishing tool
ch5->InputMode = NO_INPUT_MODE;
ch5->OutputMode = STEP_DIR_MODE;
ch5->Vel = 40000;
ch5->Accel = 400000;
ch5->Jerk = 4e+06;
ch5->P = 0;
ch5->I = 0.01;
ch5->D = 0;
ch5->FFAccel = 0;
ch5->FFVel = 0;
ch5->MaxI = 200;
ch5->MaxErr = 1e+06;
ch5->MaxOutput = 200;
ch5->DeadBandGain = 0;
ch5->DeadBandRange = 0;
ch5->InputChan0 = 0;
ch5->InputChan1 = 0;
ch5->OutputChan0 = 5;
ch5->OutputChan1 = 0;
ch5->MasterAxis = -1;
ch5->LimitSwitchOptions = 0x110;
ch5->LimitSwitchNegBit = 0; //no hardware limit
ch5->LimitSwitchPosBit = 0;
ch5->SoftLimitPos = 1e+09;
ch5->SoftLimitNeg = -1e+09; //no limit
ch5->InputGain0 = 1;
ch5->InputGain1 = 1;
ch5->InputOffset0 = 0;
ch5->InputOffset1 = 0;
ch5->OutputGain = -1;
ch5->OutputOffset = 0;
ch5->SlaveGain = 1;
ch5->BacklashMode = BACKLASH_OFF;
ch5->BacklashAmount = 0;
ch5->BacklashRate = 0;
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, 0);
//definecoordinate
DefineCoordSystem6(0, 1, 4, -1, 3, 2); // define axis chan numbers to use as x,y,z,a,b,c (set -1 to disable)
//ENA pins, release to start moving, function: ClearBit()=low, SetBit()=high
void SetBitDirection(56, 1); // Set pin 56 as an output, xyzy'z' ENA
ClearBit(56); // Set pin 56 low ="turn off" the enable pin=motor start
void SetBitDirection(55, 1); // Set pin 55 as an output, polishing tool ENA
ClearBit(55); // Set pin 55 low ="turn off" the enable pin=motor start
//Brake pins
void SetBitDirection(52, 1); //Set pin 52 as an output, z brake
SetBit(52); //"turn on" 52=high
void SetBitDiretion(53, 1); //Set pin 53 as an output, polishing tool brake
SetBit(53); //"turn on" 53=high
// Home each axis to its origin
HomeAxis(0, 6000, 1026); // Home X axis
HomeAxis(1, 200, 1029); // Home Y axis
HomeAxis(4, 500, 1034); // Home Z axis
HomeAxis(3, 450, 1037); // Home Y' axis
HomeAxis(2, 370, 1040); // Home Z' axis
//thread 3 Temp
double nextTime = Time_sec(); // Initialize nextTime to the current time
while (1) { // Infinite loop to continuously read temperature
nextTime += 2.0; //read every 2 sec
readtemp();
WaitUntil(nextTime);
float OldWeight = -1, NewWeight;
NewWeight = *(float*)&persist.UserData[150]; // get weight as a float
if (NewWeight != OldWeight)
{
printf("Weight = %.2fg\n", NewWeight);
OldWeight = NewWeight;
char t[80];
sprintf(t, "%.2fg \n", NewWeight);
DROLabel(1000, 160, t);
}
Delay_sec(1); // Delay for 1 second
}
}
