Re: Homing STG

["Les Watts" <leswatts-at-alltel.net>]

Kurtis,

I am hitting the home switch at 30 ipm... pretty fast.
After bouncing the switch the axes reverse, detect index, and
 at 60 ipm go to the 0 I have selected.

Before the hack I got no index, no switch acknowedgement,..nothing.

The stgdiag utility from the stg web site (run from a dos boot floppy)
detected
home switch and index fine though. Have you confirmed functionality
by running this?

Also is homing enabled in emcmot.c?

My EMC.ini is on my engineering website at the bottom if you
 want to check that out. I run my home switches normally closed.
The stg has 10kohm pullups and goes high when the switch is hit.

I did a quick check on the latest sourceforge sources and DID NOT
see the new code in newstg.c.

We need Paul here. He will prob see this and chime in otherwise
I can email him.

We can always get you the hack thats on my machine to get going.
But I hope we can get newstgmod working properly for all cards
as well.

Please tell me the results of running stgdiag.

Leslie Watts
L M Watts Furniture
Tiger, Georgia USA
http://www.alltel.net/~leswatts/wattsfurniturewp.html
engineering page:
http://www.alltel.net/~leswatts/shop.html

----- Original Message -----
From: "Kurtis Martineau" <klmartineau-at-shaw.ca>
To: "Multiple recipients of list" <emc-at-nist.gov>
Sent: Tuesday, August 27, 2002 11:09 AM
Subject: RE: Homing STG


>
> Thanks Les,
>
> But newstg seems to work the same and is not stoping on the encoder index
> pulse.
> There must be something that I am missing here...a hardware
> configuration...#define for 4 axis board....?
>
> How fast are you able to come into our home switch?  (I've tried various
> rates from a crawl on up) Do you manually jog until you're close and then
> home the last inch or so?
>
> Also, is anyone using a slowdown switch to reduce a rapid traverse to a
safe
> homing velocity, during an axis homing cycle?
>
> Any other comments? ( Paul? )
>
> Kurtis
>
>
> > -----Original Message-----
> > From: emc-at-nist.gov [emc-at-nist.gov]On Behalf Of Les Watts
> > Sent: Tuesday, August 27, 2002 7:52 AM
> > To: Multiple recipients of list
> > Subject: Re: Homing STG
> >
> >
> >
> > Hi Kurtis!
> >
> > Ah yes the homing problem with stg II.
> >
> > Yes I am getting the homing to work fine with STG II 8 axis,
> > but Paul and I had to hack the code a little to get it to work.
> > After the stg II came out homing ceased to work.
> >
> > Specifically When we looked at any of the EMCMOT code
> > we could not find anyplace where registers IDLEN (index pulse
> > latch enable) at offset 0x409 and SELDI (select index pulse) at
> > offset 0x40B were written to. So we wrote all 1's to IDLEN
> > to enable all axes index pulses and all 0's to SELDI to select
> > index pulse latching rather than external latching (P2 pin 39).
> >
> > I believe Paul cleaned up this crude fix with something a little
> > more structured for the CVS sources but I think you  might
> > be the first to test it.
> >
> > I have continued to run with the original hack as I am familiar
> > with c but a linux newbie so am reluctant to recompile stuff and
> > the hack works perfectly fine.
> >
> >
> > He wrote to me about the better fix as follows:
> >
> > ------------------------------------------------------------------
> > ----------
> > ------
> > "I added the following few lines to newstg.c at line 82 and also to
stg2.c
> > at
> > 1820. I thought it a little cleaner and easier to follow than the
> > hack I did
> > on your machine.
> >
> >  /*  Need to set up registers to allow the use of index pulse P.C. */
> >   if (MAX_AXES > 4)
> >  {
> >   bySelectBits = 0xff;
> >   } else  {
> >   bySelectBits = 0x0f;
> >  }
> > SelectIndexOrExtLatch(bySelectBits);
> > EnableCounterLatchOnIndexOrExt(bySelectBits);
> >
> > I expect I'll need to add something similar to the old STG driver
> > as I hear
> > some people are using EMC with the model 1 cards."
> > -----------------------------------------------------------------------
> >
> >
> > But if you are using the 4 axis version Matt had the same problem
> > a good while ago and I think took it to Will who adapted some
> > STG code which compiled to newstgmod.o. If you get this
> > I think it will work with the 4 axis board. But it did not for the 8
> > axis hence our fix. In any event Paul's new code is for 8 axis as
> > well as 4.
> >
> > Try newstgmod.o. compiled (I think) from newstg.c .Let's see if we can
get
> > Paul to
> >  chime in here about the latest fix ( I think he has been busy)... the
> > intention is to have
> > one EMCMOT that will work with all stg boards type I or II with any axis
> > configuration. In getting you fixed up we can hopefully make that
happen.
> > It probably IS fixed... just use newstgmod. If folks test this
> > with all card
> > combinations and it works I suggest we get rid of all the other old stg
> > EMCMOT files.
> >
> > Les
> >
> > Leslie Watts
> > L M Watts Furniture
> > Tiger, Georgia USA
> > http://www.alltel.net/~leswatts/wattsfurniturewp.html
> > engineering page:
> > http://www.alltel.net/~leswatts/shop.html
> >
> > ----- Original Message -----
> > From: "Kurtis Martineau" <klmartineau-at-shaw.ca>
> > To: "Multiple recipients of list" <emc-at-nist.gov>
> > Sent: Monday, August 26, 2002 8:36 PM
> > Subject: Homing STG
> >
> >
> > >
> > > Has anyone been able to home a STG axis using a home switch and
> > an encoder
> > > index pulse?
> > >
> > > I understand that Paul has made some modifications to the
> > relevant code,
> > > but I still haven't been able to get this to work.
> > >
> > > I am using the BDI 2-12 and have recently updated the latest
> > sources from
> > > the SourceForge site using:
> > >
> > > cvs -d:pserver:anonymous-at-cvs.EMC.sourceforge.net:/cvsroot/emc login
> > > cvs -z3 -d:pserver:anonymous-at-cvs.EMC.sourceforge.net:/cvsroot/emc co
emc
> > > cvs -z3 -d:pserver:anonymous-at-cvs.EMC.sourceforge.net:/cvsroot/emc co
> > rcslib
> > >
> > > I have the following setup:
> > > a STG model 2, 4 axis card.
> > > EMCMOT= stg2mod.o
> > > An encoder that is directly coupled to my motor with A B Z
> > channels wired
> > > correctly to the STG board.
> > > I scope the encoder pulses and there is definitely a 5V pulse
> > every rev of
> > > the encoder.
> > > My setup is tuned and working.
> > > If I recompile with the  # define NO_INDEX_PULSE uncommented in
> > extstgmot.c,
> > > I can home off the home switch only.
> > >
> > > Any advice?
> > >
> > > Kurtis
> > >
> > >
> > >
> > >
> >
> >
>
>
>
>