Re: [CAD_CAM_EDM_DRO] EMC questions

With a velocity of 66ipm, it may be sending steps faster than your
hardware can clock the port. Can't say for sure if this is it, but it's
worth doing the math and checking.

Tom

On Wed, 13 Mar 2002, ajv2803959 wrote:

> Hi, I am trying to configure EMC in order to get maximimun speed in
> rapids with my hardware.
> So on, this is my configuration Soft and Hard.
>
> Soft
> EMC 2.1.1.16, rtlinux-3.0 and Red Hat 6.2 (kernel 2.2.18),
> Kernel is patched and EMC is compiled without problems, It works well.
> PC is pentium II 233 with 32 Mgas de RAM
> Hard
> Chopper drivers with L297 L298 combo, wiht current idle
> reduction (SD1V1.2)
> Parallel interface DB1V1.2
> Hard was bougth from Deans Hobby CNC
> (http://plaza.powersurfr.com/deanc/)
>
> Below is the ini file that I am triying to make work.
> ; EMC controller parameters for switchless minimill.
> ; See genedit.ini for full descriptions and alternate values
>
> ; General section ----------------------------------------------------
> ---------
> [EMC]
> VERSION = $Revision: 1.4.1
> MACHINE = Stepper Minimill
> NML_FILE = emc.nml
> DEBUG = 0x7FFFFFFF
>
> ; Sections for display options ---------------------------------------
> ---------
> [DISPLAY]
> PLAT = nonrealtime
> DISPLAY = tkemc
> CYCLE_TIME = 0.100
> HELP_FILE = doc/help.txt
> POSITION_OFFSET = RELATIVE
> POSITION_FEEDBACK = ACTUAL
> MAX_FEED_OVERRIDE = 1.2
> PROGRAM_PREFIX = programs/
>
> ; Task controller section --------------------------------------------
> ---------
> [TASK]
> PLAT = nonrealtime
> TASK = minimilltask
> CYCLE_TIME = 0.010
>
> ; Part program interpreter section -----------------------------------
> ---------
> [RS274NGC]
> PARAMETER_FILE = emc.var
>
> ; Motion control section ---------------------------------------------
> ---------
> [EMCMOT]
> PLAT = realtime
> EMCMOT = steppermod.o
> SHMEM_KEY = 100
> SHMEM_BASE_ADDRESS = 0x3A00000
> PARPORT_IO_ADDRESS = 0x378
> COMM_TIMEOUT = 1.0
> COMM_WAIT = 0.010
> ;PERIOD = 0.00003
>
> ; Trajectory planner section -----------------------------------------
> ---------
> [TRAJ]
>
> AXES = 3
> COORDINATES = X Y Z
> HOME = 0 0 0
> LINEAR_UNITS = 1.000000
> ANGULAR_UNITS = 1.0
> CYCLE_TIME = 0.010
> DEFAULT_VELOCITY = 1.0
> MAX_VELOCITY = 66.0
> DEFAULT_ACCELERATION = 20.0
> MAX_ACCELERATION = 20.0
> PROBE_INDEX = 0
> PROBE_POLARITY = 1
>
> ; Axes sections ------------------------------------------------------
> ---------
>
> ; First axis
> [AXIS_0]
>
> TYPE = LINEAR
> UNITS = 1.000000
> HOME = 0.000
> MAX_VELOCITY = 22
> P = 1000.000
> I = 0.000
> D = 0.000
> FF0 = 0.000
> FF1 = 0.000
> FF2 = 0.000
> BACKLASH = 0.000
> BIAS = 0.000
> MAX_ERROR = 0.000
> DEADBAND = 0.0005
> CYCLE_TIME = 0.001
> INPUT_SCALE = 72.0 0
> OUTPUT_SCALE = 72.000 -0.000
> MIN_LIMIT = -1000.0
> MAX_LIMIT = 1000.0
> MIN_OUTPUT = -10
> MAX_OUTPUT = 10
> FERROR = 1.000
> MIN_FERROR = 0.010
> HOMING_VEL = 0.1
> HOME_OFFSET = 0.10
> ENABLE_POLARITY = 1
> MIN_LIMIT_SWITCH_POLARITY = 0
> MAX_LIMIT_SWITCH_POLARITY = 0
> HOME_SWITCH_POLARITY = 1
> HOMING_POLARITY = 1
> JOGGING_POLARITY = 1
> FAULT_POLARITY = 1
>
> ; Second axis
> [AXIS_1]
>
> TYPE = LINEAR
> UNITS = 1.000000
> HOME = 0.000
> MAX_VELOCITY = 20
> P = 1000.000
> I = 0.000
> D = 0.000
> FF0 = 0.000
> FF1 = 0.000
> FF2 = 0.000
> BACKLASH = 0.000
> BIAS = 0.000
> MAX_ERROR = 0.000
> DEADBAND = 0.0005
> CYCLE_TIME = 0.001000
> INPUT_SCALE = 72 0
> OUTPUT_SCALE = 72.000 -0.000
> MIN_LIMIT = -1000.0
> MAX_LIMIT = 1000.0
> MIN_OUTPUT = -1000
> MAX_OUTPUT = 1000
> FERROR = 1.000
> MIN_FERROR = 0.010
> HOMING_VEL = 0.1
> HOME_OFFSET = 0.10
> ENABLE_POLARITY = 1
> MIN_LIMIT_SWITCH_POLARITY = 0
> MAX_LIMIT_SWITCH_POLARITY = 0
> HOME_SWITCH_POLARITY = 1
> HOMING_POLARITY = 1
> JOGGING_POLARITY = 1
> FAULT_POLARITY = 1
>
>
> ; Third axis
> [AXIS_2]
>
> TYPE = LINEAR
> UNITS = 1.000000
> HOME = 0.000
> MAX_VELOCITY = 1.2
> P = 1000.000
> I = 0.000
> D = 0.000
> FF0 = 0.000
> FF1 = 0.000
> FF2 = 0.000
> BACKLASH = 0.000
> BIAS = 0.000
> MAX_ERROR = 0.000
> DEADBAND = 0.0005
> CYCLE_TIME = 0.001000
> INPUT_SCALE = 120 0
> OUTPUT_SCALE = 120.000 -0.000
> MIN_LIMIT = -100.0
> MAX_LIMIT = 100.0
> MIN_OUTPUT = -10
> MAX_OUTPUT = 10
> FERROR = 1.000
> MIN_FERROR = 0.010
> HOMING_VEL = 0.1
> HOME_OFFSET = 0.10
> ENABLE_POLARITY = 1
> MIN_LIMIT_SWITCH_POLARITY = 0
> MAX_LIMIT_SWITCH_POLARITY = 0
> HOME_SWITCH_POLARITY = 1
> HOMING_POLARITY = 1
> JOGGING_POLARITY = 1
> FAULT_POLARITY = 1
>
> ; section for main IO controller parameters --------------------------
> ---------
> [EMCIO]
> PLAT = nonrealtime
> EMCIO = minimillio
> CYCLE_TIME = 0.100
> TOOL_TABLE = emc.tbl
>
>
> The problem is when I put the machine on in manual mode.
> Click over axis 0 Click over home, axis X move to 0.0000 and numbers
> change colour to green, the same process is made over axis Y and axis
> Z.
> Now I make a jog in clockwise over X, the movement is OK
> The same over Y and Z the movement is OK.
> ----
> Now I make a jog in anticlockwise the movement is wrong and machine
> put in [estop reset], the same for Y axis but Z axis work OK.
>
> The only different between axis is input and output scale.
> X and Y axis are 72 ( 5mm per Turn 360 steps per turn in half mode)
> 360/5 =72
> Z axis is ( 3mm per Turn 360 steps per turn in half mode)
> 360/3=120
> Velocity is not a issue beacause I don´t switch on the amplifiers.
> I want to have EMC oK and then try the whole system.
>
> Is There any limitation in input and ouput scale or is an error in my
> ini file ? Some help is welcome
>
>
> The second question is, I have tried freqmod too. I have noticed a
> distinct behaivour than steppermod about parallel port.
> Freqmod is always switch on switch off the step signal, the amplifier
> is looking the step signal if during 60s, EMC don´t send any step
> reduce current to 30%, but freqmod looks like always is sending steps.
> Have Somebody had trouble with this scenario or is a mistake mine ?
>
>
> Sorry for long post.
>
> Thanks in advance
>
>
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