Re: oops... wrong file. Was: EMC, freqmod.o, A-axis, .ini settings, oh my!

Tom,

I had the wrong file last night. Below is what I am using for the A
axis. The A axis step rate is really slow so you may want to bump
the DEFAULT_VELOCITY in the [TRAJ] section.

Norm

-----------------
[AXIS_3]

;TYPE = LINEAR
TYPE = ANGULAR
;UNITS = 0.03937007874016
UNITS = 1.0
HOME = 0.000
MAX_VELOCITY = 4.0
;P = 1000.000
P = 10.000 ;proportional gain
I = 0.00 ;integral gain
D = 0.00 ;derivative gain
FF0 = 0.000 ;0th order feedforward (position)
FF1 = 0.000 ;1st order feedforward (velocity)
FF2 = 0.000 ;2nd order feedforward (acceleration)
BACKLASH = 0.000 ;backlash
BIAS = 0.000 ;constant bias
MAX_ERROR = 0.000 ;max cumulative error
DEADBAND = 0.0050
CYCLE_TIME = 0.001000
INPUT_SCALE = 80 0.000
OUTPUT_SCALE = 80 0.000

MIN_LIMIT = -360.0
MAX_LIMIT = 360.0
MIN_OUTPUT = -100
MAX_OUTPUT = 100
;FERROR = 1.000
;MIN_FERROR = 0.010

FERROR = 100.00
MIN_FERROR = 01.0

HOMING_VEL = 4.0
HOME_OFFSET = 0.00
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

--- In CAD_CAM_EDM_DRO@y..., "steel2chips" <h5npbmj@c...> wrote:
> Tom,
>
> I also feel your pain. I managed to get my TAIG working with the
> MicroProto (Sherline) rotary table. Below is in part what I'm
using
> for the "A" axis. I found input/output scale set to 1000 works
for
> the stepper as supplied by MicroProto (1.8 Deg/step). I had
> problems with the stepper making weird noises when standing, which
I
> managed to clear up by messing with the deadband. Only complaint:
> the A axis step rate is really slow. IMHO freqmod.o is broke...
> changing input/output scale shouldn't change step rate, right?
>
> ----
> [AXIS_3]
> TYPE = ANGULAR
> UNITS = 1.0
> HOME = 0.000
> MAX_VELOCITY = 4.0
> P = 100.000 ;proportional gain
> I = 0.000 ;integral gain
> D = 0.000 ;derivative gain
> FF0 = 0.000 ;0th order feedforward (position)
> FF1 = 0.000 ;1st order feedforward (velocity)
> FF2 = 0.000 ;2nd order feedforward (acceleration)
> BACKLASH = 0.000 ;backlash
> BIAS = 0.000 ;constant bias
> MAX_ERROR = 0.000 ;max cumulative error
> DEADBAND = 0.0025
> CYCLE_TIME = 0.001000
> INPUT_SCALE = 1000 0.000
> OUTPUT_SCALE = 1000 0.000
> ----
>
> Take care,
> Norm
>
>
>
> --- In CAD_CAM_EDM_DRO@y..., Tom Benedict <benedict@a...> wrote:
> > On Mon, 19 Aug 2002, j.guenther wrote:
> >
> > > Welcome to the club!! I have been fighting this problem since
> the end
> > > of June with no joy. It appears to be a granularity issue, and
> the
> > > lower the steps per unit the worse it gets. I am going to
reload
> my
> > > EMC setup with BDI 2.16 so I can try it with steppermod.o as I
am
> > > currently running the BDI-TNG which only works with freqmod.o.
I
> > > really wish one of the EMC developers would track this down and
> fix
> > > it. I have thought about running mine with input and output
> scale set
> > > to 28800, and units set to 1. That way a 90 degree move would
be
> g0
> > > a0.25 which is not the way I want to run it but does work.
Sounds
> > > like you have a Sherline mill and rotary table. I have the
> Sherline
> > > 5400 mill and got the cnc rotary table for my 55th birthday.
> >
> > Wellll... Almost. I've got a Taig mill, and a Sherline rotary
> table.
> > They actually play very well together. The one catch with the
Taig
> mill,
> > though, is that it doesn't use step/dir, it uses four phase
> output. EMC
> > doesn't like to do that, so it took some tweaking on freqmod.o to
> make it
> > work.
> >
> > The upshot of this is that switching to steppermod.o would involve
> > re-hacking the source to make four phase output work. Hopefully
> real soon
> > now I'll be able to afford the electronics to convert step/dir to
> four
> > phase output so I can use EMC talking step/dir. That'll also
mean
> I can
> > run the whole beast off a single parallel port. Some day
(hopefully
> > soon...)
> >
> > In the mean time I'm trying to get things working. DANG this is
> driving
> > me nuts!
> >
> > If I find anything, I'll let you know.
> >
> > Tom
> >
> > > > -----Original Message-----
> > > > From: Tom Benedict [mailto:benedict@a...]
> > > > Sent: Monday, August 19, 2002 11:24 AM
> > > > To: CAD_CAM_EDM_DRO@y...
> > > > Subject: [CAD_CAM_EDM_DRO] EMC, freqmod.o, A-axis, .ini
> settings, oh my!
> > > >
> > > >
> > > > Here's the setup:
> > > >
> > > > I've got a stepper-based mill that's got four axes. The A
axis
> is a
> > > > rotary table that's bolted to the mill bed so the axis points
> parallel to
> > > > the X-axis.
> > > >
> > > > I'm running the latest rev of the BDI, and the motors are set
> up to use
> > > > freqmod.o.
> > > >
> > > > I'm trying to tune the .ini parameters for the fourth axis so
I
> can
> > > > address the rotary table in units of degrees. The linear
axes
> are being
> > > > addressed in units of inches.
> > > >
> > > > I've got 200 step/in motors that are being half-stepped. The
> linear axes
> > > > have 20TPI leadscrews, so that winds up being 8000
steps/inch.
> The rotary
> > > > axis has a 1:72 worm gear on it, and uses the same motor as
the
> linear
> > > > axes. So at 5 degrees per revolution of the motor, that's 80
> steps per
> > > > degree.
> > > >
> > > > Now for the troubleshooting:
> > > >
> > > > I've got the linear axes pretty happy. I don't have my .ini
> file in front
> > > > of me, but I use an INPUT_SCALE and OUTPUT_SCALE of 8000.0
0.0,
> > > > LINEAR_UNITS of 0.03937007874016 in [TRAJ] and UNITS of
> 0.03937007874016
> > > > inside each [AXIS_*] section (I'm using inches), and a P of
> 500.0.
> > > >
> > > > I've got ANGULAR_UNITS set to 1.0 in [TRAJ] and UNITS set to
> 1.0 in
> > > > [AXIS_3]. With all the other parameters set the same, if
> INPUT_SCALE and
> > > > OUTPUT_SCALE is set to 8000.0 0.0, the axis works, but it's
not
> being
> > > > addressed in terms of degrees. If I change INPUT_SCALE and
> OUTPUT_SCALE
> > > > to 80.0 0.0, the axis ceases to function.
> > > >
> > > > I've tried dinking with this a fair amount. I can marginally
> get it
> > > > working with the SCALEs set to 800.0 0.0, and address it in
> terms of tens
> > > > of degrees (so G0 A9.0 would rotate it 90 degrees), but
> obviously this
> > > > isn't what I'd like it to do.
> > > >
> > > > Has anyone got a stepper system using freqmod.o to work with
a
> rotary
> > > > axis? Can anyone share a success story that would help me
get
> this thing
> > > > working?
> > > >
> > > > Any and all help is much appreciated.
> > > >
> > > > Thanks,
> > > >
> > > > Tom
> > > >
> > > >
> > > > Addresses:
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> > > FILES: http://groups.yahoo.com/group/CAD_CAM_EDM_DRO/files/
> > >
> > > OFF Topic POSTS: General Machining
> > > If you wish to post on unlimited OT subjects goto:
> aol://5863:126/rec.crafts.metalworking or go thru Google.com to
reach
> it if you have trouble.
> > > http://www.metalworking.com/news_servers.html
> > >
> > > http://groups.yahoo.com/group/jobshophomeshop I consider this
> as a sister site to the CCED group, as many of the same members are
> there, for OT subjects, that are not allowed on the CCED list.
> > >
> > > NOTICE: ALL POSTINGS TO THIS GROUP BECOME PUBLIC DOMAIN BY
> POSTING THEM. DON'T POST IF YOU CAN NOT ACCEPT THIS.....NO
> EXCEPTIONS........
> > >
> > > Post messages: CAD_CAM_EDM_DRO@y...
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