Re:

John

The word to use for a rotary axis is ANGULAR, The unit you specified is 1
and in the case where you give this unit a value of 144000 it will issue that
many steps every time you tell in to go one unit. You should divide 144000
by 360 if you want the 1 unit to equal one degree rather than one rotation.

HTH

Ray

>    From: "John Guenther" <j.guenther@...>
> Subject: RE: Re: Rotary axis configuration question.
>
> Al,
>
> In this case it is 2000 steps per revolution with the CMD-260 drivers in
> 2000 step per rev micro step mode so 400 * 360 = 144400 steps per rotary
> table revolution.  My problem is I don't know how to get EMC to understand
> that this axis is working in degrees and not inches or mm. I have the axis
> configured as shown below:
>
> [AXIS_3]
>
> TYPE =                        ROTARY
> UNITS =                       1
> HOME =                          0.000
> MAX_VELOCITY =                1.2
> P = 1000.000
> I = 0.000
> D = 0.030
> FF0 = 0.000
> FF1 = 0.077
> FF2 = 0.000
> BACKLASH = 0.000
> BIAS = 0.000
> MAX_ERROR = 0.000
> DEADBAND = 0.000
> CYCLE_TIME =                    0.001000
> INPUT_SCALE =                     -144000
> OUTPUT_SCALE = 144000 0.000
> MIN_LIMIT =                     -360.0
> MAX_LIMIT =                     360.0
> MIN_OUTPUT =                    -360
> MAX_OUTPUT =                   360
> ;FERROR = 1.000
> ;MIN_FERROR = 0.01
> HOMING_VEL =                    0.1
> HOME_OFFSET =                   0.0
> ENABLE_POLARITY =               0
> MIN_LIMIT_SWITCH_POLARITY =     0
> MAX_LIMIT_SWITCH_POLARITY =     0
> HOME_SWITCH_POLARITY =          1
> HOMING_POLARITY =               1
> JOGGING_POLARITY =              1
> FAULT_POLARITY =                1
>
>
> Any help will be appreciated.  I can use it with TurboCNC but I would like
> to use it with EMC also.