Re: EMC and Angular Axis to run rotary table

Thanks Eric and dave for your replies...

The UNITS = 0.03937007874016 and INPUT_SCALE = 1000 were the default
values and i didnt touched them coz i dont know how to setup Angular
axes. Even when i set the TYPE = ANGULAR , i couldnt see the position
display for A axis in Degrees. It doesnt rolls back to 0.0000 when it
crosses 360.000 . or you can say i dont see any effect of setting
TYPE = ANGULAR .

How about selecting the position in terms of DEGREE, RADIAN, GRADIAN?
is there any way to switch between these units?

As i know UNITS variable in the ini is the variable that sets the
user units to inches. Do i need to set it to 0.000? or should i leave
it alone, if i want my A axis to be configured as an angular axis?

What is the purpose of REVS_PER_UNIT and COUNTS_PER_REV variables
found in the ini file? are these variables just set the motor
properties for simulation only?

Regards

Asim

--- In CAD_CAM_EDM_DRO@yahoogroups.com, "balsaman_cnc"
<balsaman_cnc@y...> wrote:

> Set the axis up as a linear axis and try again. Since there are no
> units displayed it shouldn't matter. As far as I know the only
> difference between linear and angular is one displays degrees, and
> the other inches (or mm). The software shouldn't care either way.

I

> don't use EMC, but this is how I did it in Turbocnc and it's

working

> fine.
>
> Eric
>
>
> --- In CAD_CAM_EDM_DRO@yahoogroups.com, "Asim Khan" <asimtec@y...>
> wrote:
> > Hi Group!
> >
> > I want to run a rotary table using EMC. To run this rotary table
> > as a fourth axis what i did was this:
> >
> > Edited the AXES = 3 line in ini file to
> > AXES = 4
> >
> > Edited CORDINATES = X Y Z to
> > CORDINATES = X Y Z A
> >
> >
> > Edited HOME = 0 0 0 to
> > HOME = 0 0 0 0
> >
> >
> > copied the 3rd axis all parameters under [AXIS_2] label and

renamed

> > the [AXIS_2] to [AXIS_3]
> >
> > edited TYPE = LINEAR line to :
> > TYPE = ANGULAR
> >
> > now my 4th axis ini parameters are as follows:
> >
> > ; Fourth Axis
> > [AXIS_3]
> >
> > TYPE = ANGULAR
> > UNITS = 0.03937007874016
> > 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 = 0.000
> > CYCLE_TIME = 0.001000
> > INPUT_SCALE = 1000 0
> > OUTPUT_SCALE = 1.000 0.000
> > MIN_LIMIT = -10.0
> > MAX_LIMIT = 10.0
> > MIN_OUTPUT = -10
> > MAX_OUTPUT = 10
> > FERROR = 1.000
> > MIN_FERROR = 0.010
> > 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
> > ; Parameters for Inland Motor BMHS-0701 X 20
> > TORQUE_UNITS = OZ_IN
> > ARMATURE_RESISTANCE = 1.10
> > ARMATURE_INDUCTANCE = 0.0120
> > BACK_EMF_CONSTANT = 0.0254
> > ROTOR_INERTIA = 0.0104
> > DAMPING_FRICTION_COEFFICIENT = 0.083
> > SHAFT_OFFSET = 0
> > REVS_PER_UNIT = 10
> > ; Parameters for generic amplifier
> > AMPLIFIER_GAIN = 1
> > MAX_OUTPUT_CURRENT = 10
> > LOAD_RESISTANCE = 1
> > ; parameters for generic encoder
> > COUNTS_PER_REV = 1000
> >
> > after doing this all I ran TKEMC, I was able to see 4th Axis
> > position counter now added in the display below Z-Axis.
> > But i the position display for this forth axis is still LINEAR
> > It does not displays cordinates for 4th axis in Angle.
> > And there is no option in TKEMC to select UNITS (DEG,RAD,GRAD)for
> > Angular Axis.
> >
> > Also i cant set the Work offset by left clicking the 4th Axis.
> > When i try to do this a message box pops up with the following
> > message :
> > Error: cant read "string" no such variable
> >
> > It seems as if the TkEMC script does not has the code implemeted
> > to support 4th axis. it even doesnt displays the workoffset
> > for 4th axis in the line just below the emc control buttons.
> >
> > I have no idea how to set INPUT_SCALE parameter for ANGULAR
> > Axes. Please guide me how to do this. How about
> > COUNTS_PER_REV variable? does it has any effect?
> > There isnt any effect of COUNTS_PER_REV variable for axis
> > types set as LINEAR, isnt it?
> >
> > Please help, how can i run rotary table as fourth axis with EMC?
> >
> > Best regards
> >
> > Asim
> >
> > MY EMC SETUP INFO:
> > EMC INSTALL: BDI-EMC V2.16
> > CONTROL CARD: ServoToGo Model-II, 8 Axis Card