RE: Following Error

Subject: RE: Following Error
From: "Tim Goldstein" <timg-at-ktmarketing.com>
Date: Fri, 3 Jan 2003 00:04:09 -0700
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In-reply-to: <20030103063908.27755.qmail-at-web41309.mail.yahoo.com>
Reply-To: <timg-at-ktmarketing.com>

I would start by increasing your P value for each axis to about 1000 and
then change the deadband to just over the distance of 1/2 a step. You
have deadband at 100 in axis 0 and at 0 in axis 1 & 2.

While this is likely not causing your problem you should have the
MAX_VELOCITY in the [TRAJ] section set about 50% greater than the
highest MAX_VELOCITY in the [AXIS?] sectoins.

Tim
[Denver, CO]


> -----Original Message-----
> From: emc-at-nist.gov [emc-at-nist.gov] On Behalf Of Irfan Younis
> Sent: Thursday, January 02, 2003 11:45 PM
> To: Multiple recipients of list
> Subject: Following Error
> 
> 
> 
> Dear Users,
>              I am sending a sample of my ini file,
> please check it and solve the following error, Thanks 
> 
> 
> _____________________________________
> 
> 
> ; EMC controller parameters for generic controller.
> Make these what you need
> ; for your system.
> 
> ; General section
> -------------------------------------------------------------
> [EMC]
> 
> ; Version of this INI file
> VERSION =               $Revision: 1.11 $
> 
> ; Name of machine, for use with display, etc.
> MACHINE =               Generic
> 
> ; Name of NML file to use, default is emc.nml
> NML_FILE =              emc.nml
> 
> ; Debug level, 0 means no messages. See
> emc/src/emcnml/emcglb.h for others
> ;DEBUG =                 0x00000003
> ; DEBUG =               0x00000007
> DEBUG =               0x7FFFFFFF
> 
> ; Sections for display options
> ------------------------------------------------
> [DISPLAY]
> 
> ; Platform for GUI, e.g., realtime, nonrealtime
> PLAT =                  nonrealtime
> 
> ; Name of display program, e.g., xemc
> ; DISPLAY =             xemc
> DISPLAY =               tkemc
> ; DISPLAY =             yemc
> ; DISPLAY =             keystick
> ; DISPLAY =             emcpanel
> 
> ; Cycle time, in seconds, that display will sleep
> between polls
> CYCLE_TIME =            0.200
> 
> ; Path to help file
> HELP_FILE =             doc/help.txt
> 
> ; Initial display setting for position, RELATIVE or
> MACHINE
> POSITION_OFFSET =       RELATIVE
> 
> ; Initial display setting for position, COMMANDED or
> ACTUAL
> POSITION_FEEDBACK =     ACTUAL
> 
> ; Highest value that will be allowed for feed
> override, 1.0 = 100%
> MAX_FEED_OVERRIDE =     1.0
> 
> ; Prefix to be used
> PROGRAM_PREFIX =        programs/
> 
> ; Introductory graphic
> INTRO_GRAPHIC = emc.gif
> INTRO_TIME = 5
> 
> ; Task controller section
> -----------------------------------------------------
> [TASK]
> 
> ; Platform for task controller, e.g., realtime,
> nonrealtime
> PLAT =                  nonrealtime
> 
> ; Name of task controller program, e.g.,
> bridgeporttask
> TASK =                  bridgeporttask
> ; TASK =                minimilltask
> 
> ; Cycle time, in seconds, that task controller will
> sleep between polls
> CYCLE_TIME =            0.010
> 
> ; Part program interpreter section
> --------------------------------------------
> [RS274NGC]
> 
> ; File containing interpreter variables
> PARAMETER_FILE =        emc.var
> 
> ; Motion control section
> ------------------------------------------------------
> [EMCMOT]
> 
> ; Platform for motion, e.g., realtime, nonrealtime
> PLAT =                  realtime
> ; PLAT =                        nonrealtime
> 
> ; Name of motion control program
> ; EMCMOT =              steppermod.o
> EMCMOT =                freqmod.o
> ; If using freqmod, make sure INPUT_SCALE and
> OUTPUT_SCALE are
> ; the same for all AXIS_x below.
> ; EMCMOT =              stgmod.o
> ; EMCMOT =              vtimod.o
> ; EMCMOT =              emcmotsim
> 
> ; Key for real OS shared memory, e.g., for simulated
> motion
> SHMEM_KEY =             100
> 
> ; Base address for physical shared memory, e.g., for
> real-time motion.
> ; Note that if you change this, you may need to change
> OS parameters, e.g.,
> ; /etc/lilo.conf
> SHMEM_BASE_ADDRESS =    0x1F00000
> ; SHMEM_BASE_ADDRESS =  0x3F00000
> 
> ; Base address of Servo To Go and Vigilant ISA-ENCDAC
> cards
> ; STG_BASE_ADDRESS   =    0x200
> STG_BASE_ADDRESS =    0x300
> 
> ; Address for parallel port used for steppers
> PARPORT_IO_ADDRESS =    0x378
> 
> ; Timeout for comm to emcmot, in seconds
> COMM_TIMEOUT =          1.0
> 
> ; Interval between tries to emcmot, in seconds
> COMM_WAIT =             0.010
> 
> ; Base task period, in seconds
> ; Typical settings would be around :-
> ; 0.000015 for an 800MHz CPU
> ; 0.000040 for a 300Mhz CPU
> ; Don't use this if steppermod is being loaded.
> PERIOD =                0.000032
> 
> ; Address for motion IO, synchronized with motion
> start/end
> MOTION_IO_ADDRESS =	0x3BC
> 
> ; Trajectory planner section
> --------------------------------------------------
> [TRAJ]
> 
> AXES =                  3
> ; COORDINATES =         X Y Z R P W
> COORDINATES =           X Y Z
> HOME =                  0 0 0
> LINEAR_UNITS =          0.03937007874016
> ANGULAR_UNITS =         1.0
> CYCLE_TIME =            0.010
> DEFAULT_VELOCITY =      0.0167
> MAX_VELOCITY =          1.5
> DEFAULT_ACCELERATION =  2.0
> MAX_ACCELERATION =      2.0
> PROBE_INDEX =           0
> PROBE_POLARITY =        1
> 
> ; Axes sections
> ---------------------------------------------------------------
> 
> ; First axis
> [AXIS_0]
> 
> TYPE =                          LINEAR
> UNITS =                         0.03937007874016
> HOME =                          0.000
> MAX_VELOCITY =                  1.5
> P = 100.000
> I = 0.000
> D = 0.000
> FF0 = 0.000
> FF1 = 0.000
> FF2 = 0.000
> BACKLASH = 0.000
> BIAS = 0.000
> MAX_ERROR = 6.000
> DEADBAND = 100.000
> CYCLE_TIME =                    0.0001000
> INPUT_SCALE =                   2540    0
> OUTPUT_SCALE = 2540.000 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 =                4096
> 
> ; Second axis
> [AXIS_1]
> 
> TYPE =                          LINEAR
> UNITS =                         0.03937007874016
> HOME =                          0.000
> MAX_VELOCITY =                  1.5
> P = 100.000
> I = 0.000
> D = 0.000
> FF0 = 0.000
> FF1 = 0.077
> FF2 = 0.000
> BACKLASH = 0.000
> BIAS = 0.000
> MAX_ERROR = 0.000
> DEADBAND = 0.000
> CYCLE_TIME =                    0.0001000
> INPUT_SCALE =                   2540    0
> OUTPUT_SCALE = 2540.000 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 =                4096
> 
> ; Third axis
> [AXIS_2]
> 
> TYPE =                          LINEAR
> UNITS =                         0.03937007874016
> HOME =                          0.000
> MAX_VELOCITY =                  1.5
> P = 100.000
> I = 0.000
> D = 0.000
> FF0 = 0.000
> FF1 = 0.077
> FF2 = 0.000
> BACKLASH = 0.000
> BIAS = 0.000
> MAX_ERROR = 0.000
> DEADBAND = 0.000
> CYCLE_TIME =                    0.0001000
> INPUT_SCALE =                   2540    0
> OUTPUT_SCALE = 2540.000 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 =                4096
> 
> ; section for main IO controller parameters
> -----------------------------------
> [EMCIO]
> 
> ; Platform for IO controller, e.g., realtime,
> nonrealtime
> PLAT =                  nonrealtime
> 
> ; Name of IO controller program, e.g., bridgeportio
> EMCIO =                 bridgeportio
> ; EMCIO =               minimillio
> ; EMCIO =               simio
> 
> ; cycle time, in seconds
> CYCLE_TIME =    0.100
> 
> ; tool table file
> TOOL_TABLE =    emc.tbl
> 
> ; address for parallel port used for auxiliary IO
> PARPORT_IO_ADDRESS =    0x278
> 
> ; wait times in seconds for spindle brake, release
> SPINDLE_OFF_WAIT          =     1.0
> SPINDLE_ON_WAIT           =     1.5
> 
> ; external digital inputs, outputs are always 0 for
> 0V, 1 for 5/24V
> 
> ; digital in bits
> 
> ESTOP_SENSE_INDEX         =     1
> LUBE_SENSE_INDEX          =     2
> 
> ; digital in polarity, 0 is inverted, 1 is normal
> ; controller compares with polarity, equal means on,
> not equal means off
> 
> ESTOP_SENSE_POLARITY      =     0
> LUBE_SENSE_POLARITY       =     1
> 
> ; digital out bits
> 
> SPINDLE_FORWARD_INDEX     =     1
> SPINDLE_REVERSE_INDEX     =     0
> MIST_COOLANT_INDEX        =     6
> FLOOD_COOLANT_INDEX       =     7
> SPINDLE_DECREASE_INDEX    =     8
> SPINDLE_INCREASE_INDEX    =     9
> ESTOP_WRITE_INDEX         =     10
> SPINDLE_BRAKE_INDEX       =     11
> 
> ; analog out bits
> 
> SPINDLE_ON_INDEX          =     3
> 
> ; digital out polarity, 0 is inverted, 1 is normal
> ; controller writes the polarity to turn on, opposite
> of polarity to turn off
> 
> SPINDLE_FORWARD_POLARITY  =     0
> SPINDLE_REVERSE_POLARITY  =     0
> MIST_COOLANT_POLARITY     =     0
> FLOOD_COOLANT_POLARITY    =     0
> SPINDLE_DECREASE_POLARITY =     1
> SPINDLE_INCREASE_POLARITY =     1
> ESTOP_WRITE_POLARITY      =     1
> SPINDLE_BRAKE_POLARITY    =     0
> SPINDLE_ENABLE_POLARITY   =     1
> 
> ; section for external NML server parameters
> ----------------------------------
> [EMCSERVER]
> 
> ; Name of NML server, e.g., emcsvr; if not found then
> none will run
> ; EMCSERVER =           emcsvr
> 
> ; section for emc stripchart  parameters
> ----------------------------------
> [EMCSTRIP]
> 
> ; Name of strip chart display program e.g. 
> emcstripchart; if not found then none will run
> ; EMCSTRIP =            emcstripchart
> 
> ; OPTIONS for emcstripchart ussually -f
> something.conf; This file says which
> ; variables to plot, colors etc. -u  changes the
> update rate.
> OPTIONS = -f emcstrip.conf.ferror
> 
> ;test
> 
> __________________________________________________
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References:
- Following Error
  - From: Irfan Younis <irfan_younis-at-yahoo.com>
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