I'm having a problem with my Z axis config. I have the max velocity for
that axis set to 13 (mm/sec) which is 780 mm/min (slowed down until I tune
it). If I do a G0, it moves at 780. However, if I jog (z axis only), it
tries to run at 4800mm/min which is the max velocity of the x/y axis.
This is a gantry system with Y1/Y2 and Z1/Z2. I also have an A axis.
How is it possible to exceed the max velocity defined in the [AXIS_n]
section?
This is my whole .ini file. (I have AXIS_Y and AXIS_Z sections which hold
the common pid tuning parameters)
Thanks,
Frank
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i20
CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=8 num_pwmgens=8
num_stepgens=0"
[EMC]
# Name of machine, for use with display, etc.
MACHINE = CNC-Router
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tkemc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# Path to help file
HELP_FILE = tkemc.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 = 1.5
# Prefix to be used
PROGRAM_PREFIX = /home/frankt/emc2/nc_files
# Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = .5
EMBED_TAB_NAME=Spindle
EMBED_TAB_COMMAND=gladevcp -c uiSpindle -H spindle.hal -x {XID} spindle.ui
AUTO_WORLD_AFTER_HOMEALL=1
MIN_VELOCITY=0.0166666
[TASK]
# Name of task controller program, e.g., milltask
TASK = milltask
# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.010
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = cnc-router.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[HAL]
# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
# list of hal config files to run through halcmd
# files are executed in the order in which they appear
HALFILE = cnc-router.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
[TRAJ]
AXES = 6
# COORDINATES = X Y Z A y z
COORDINATES = X Y Z A B C
HOME = 0 0 0 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 10.0
MAX_VELOCITY = 80.0
DEFAULT_ACCELERATION = 120.0
MAX_ACCELERATION = 120.0
NO_FORCE_HOMING = 0
#---------------------------------------------------------
# X Axis
#---------------------------------------------------------
[AXIS_0]
TYPE = LINEAR
MAX_VELOCITY = 80.0
MAX_ACCELERATION = 240.0
BACKLASH = 0.000
FERROR = 0.1
MIN_FERROR = 0.1
# 8000 x 4 / 20
INPUT_SCALE = 1600
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = -3
MAX_LIMIT = 302.0
HOME_SEQUENCE = 1
HOME = 0
HOME_OFFSET = 0
HOME_SEARCH_VEL = -3
HOME_LATCH_VEL = .2
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
# PID tuning params
DEADBAND = 0.000015
P = 15.0
I = 0.000
D = 0.1
FF0 = 0.0
FF1 = -0.001
FF2 = 0.0
BIAS = 0.000
#---------------------------------------------------------
# Y1 Axis
#---------------------------------------------------------
[AXIS_1]
# these parameters must be the same as AXIS_4
TYPE = LINEAR
MAX_VELOCITY = 80.0
MAX_ACCELERATION = 240.0
BACKLASH = 0.000
FERROR = 0.1
MIN_FERROR = 0.1
MIN_LIMIT = -3.0
MAX_LIMIT = 520.0
HOME_SEQUENCE = 1
HOME = 0.000
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -3.0
HOME_LATCH_VEL = 0.10
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
#---------------------------------------------------------
# Z1 Axis
#---------------------------------------------------------
[AXIS_2]
# these parameters must be the same as AXIS_5
TYPE = LINEAR
MAX_VELOCITY = 13
MAX_ACCELERATION = 240.0
BACKLASH = 0.000
FERROR = 0.1
MIN_FERROR = 0.1
MIN_LIMIT = -220.0
MAX_LIMIT = 3.0
HOME_SEQUENCE = 0
HOME = 0.000
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 3
HOME_LATCH_VEL = -0.10
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
#---------------------------------------------------------
# A Axis
#---------------------------------------------------------
[AXIS_3]
TYPE = ANGULAR
MAX_VELOCITY = 2000.0
MAX_ACCELERATION = 125.0
BACKLASH = 0.000
FERROR = 0.1
MIN_FERROR = 0.1
# 4096 x 100 /360
INPUT_SCALE = 1137.777777778
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
MIN_LIMIT = 0
MAX_LIMIT = 302.0
HOME_SEQUENCE = 1
HOME = 0
HOME_OFFSET = 0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
# PID tuning params
DEADBAND = 0.0000
P = 9.0
I = 0.00
D = 0.035
FF0 = 0.000
FF1 = 0.011
FF2 = 0.0005
BIAS = 0.000
#---------------------------------------------------------
# Y2 Axis
#---------------------------------------------------------
[AXIS_4]
# these parameters must be the same as AXIS_1
TYPE = LINEAR
MAX_VELOCITY = 80.0
MAX_ACCELERATION = 240.0
BACKLASH = 0.000
FERROR = 0.1
MIN_FERROR = 0.1
MIN_LIMIT = -3.0
MAX_LIMIT = 520.0
HOME_SEQUENCE = 1
#HOME = 0.000
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -3
HOME_LATCH_VEL = 0.10
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
#---------------------------------------------------------
# Y Slave Axis - shared tuning parameter
#---------------------------------------------------------
[AXIS_Y]
INPUT_SCALE = 1638.4
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
# PID tuning params
DEADBAND = 0.000015
P = 4
I = 0.00175
D = 0.03
FF0 = 0.0
FF1 = 0.0045
FF2 = 0.0001
BIAS = 0.000
#---------------------------------------------------------
# Z2 Axis
#---------------------------------------------------------
[AXIS_5]
# these parameters must be the same as AXIS_2
TYPE = LINEAR
MAX_VELOCITY = 13
MAX_ACCELERATION = 240.0
BACKLASH = 0.000
FERROR = 0.1
MIN_FERROR = 0.1
MIN_LIMIT = -220.0
MAX_LIMIT = 3.0
HOME_SEQUENCE = 0
#HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 3
HOME_LATCH_VEL = -0.10
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
#---------------------------------------------------------
# Z Slave Axis - shared tuning parameter
#---------------------------------------------------------
[AXIS_Z]
INPUT_SCALE = -1638.4
OUTPUT_SCALE = -1.000
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 1.0
# PID tuning params
DEADBAND = 0.0
P = 1.2
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.007
FF2 = 0.0
BIAS = 0.0
[EMCIO]
# Name of IO controller program, e.g., io
EMCIO = io
# cycle time, in seconds
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = tool.tbl
------------------------------------------------------------------------------
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