$ halcmd show pin axis.*.motor-pos-cmd
Owner Type Dir Value Name
32770 float OUT 0 axis.0.motor-pos-cmd ==> Xpos
32770 float OUT 0 axis.2.motor-pos-cmd ==> Zpos
the GUI is unresponsive
I wonder why
no, it's more than that -- it doesn't run at all
I wonder why
once I got a "can't initialize motion" problem that acted that way
check dmesg carefully
it's sim so I see "dmesg" on the terminal
skunkworks: next time you're at your machine with pluto, you should test the watchdog
Sure. will man tell me how?
skunkworks: get halcmd running in the terminal. then do something that will set the motor spinning. then in halcmd type: "stop"
this will make the PC stop communicating with the pluto board, and about 6.5ms later the pluto should stop sending its PWM output signal
I think I can handle that ;)
so the watchdog is transparent? no pins need to be hooked up?
you can disable it with a 'loadrt' parameter -- for instance, if you wanted to run a 10ms servo period you'd have to disable it
ah - makes sense.
but otherwise it gets enabled as soon as the PC starts writing data (pluto-servo.write function in HAL) to the pluto, and activates after 6.5ms without hearing from the PC
skunkworks: what wattage does your boards handle?
err the ones you have..
I need 900w.. :) peak
that should not be a problem. It should do into the 150v 20a
continuous - with a fan ;)
can you route thoose boards on a mill?
* anonimasu is very curious about a plutoP and 3 of your drives
building 3 of them
Yes - I have been milling them on our gantry.
Remember - no current limiting.
skunkworks: will you have that later?
that's a big thing for me ;)
it gets messy - so I thought I would try this first.
hm, I guess you could have a opamp and a shunt.. on the input wire..
and run feedback to the pluto...
or just kill it off.. when current gets too high
and send a signal to the pluto..
though if you have feedback you can soft limit it..
sorry if im ranting
would there be enough space on the pluto-p for a adc?
because then you could run current feedback..
anonimasu: nothing of the kind is planned
it doesn't have any internal ADC so you're stuck building something external
and there is not a lot of capacity left inside the pluto to add additional logic
to use current feedback filter the PWM output to analog and hook it up to some IC with current control as the reference voltage input (I think, but I'm not 100% sure, that this is how the mesa servo amps work)
jepler: that was the idea..
jepler: maybe a mesa would be better..
jepler: though I guess a slow fuse would work..
jepler: how do commercial servodrives handle it?
I don't know
* jepler <-- strictly bush league
well I guess a fuse would do..
I doubt I could blow a fuse at the big mill at work.
in general isnt ut true that if your motors draw more current then the peak rating + a bit your are fscked..
or your machine is badly designed..
*sorry this is the dev chan :/*
My servos have peak rating of 88Amps
anonimasu: yes, the #emc channel would be a better place for this discussion
cradek: if the gantrykins thing you were mentioning works, that is a better solution than what I was trying to do
I'm still not sure why it's not working..
you think the problem is the nonsequential joint numbers in hal?
it seems like the problem is in task, not motion
I can jog just fine, I just can't switch to MDI or AUTO
I didn't look into it after I decided it probably wasn't motion
barry had to go back in - the absess was growing agian.
tell him not to make a habit of it, will you?
I will try.. He doesn't listen very well..
no, cats tend not to
cradek, how hard do you think it would be to adda script (and possibly a desktop icon) to the live CD to create the necessary /dev/rt* files and run the latency test?
[23:35:13] <jepler> http://pastebin.ca/605127
not that you care about step generation, I suppose
I don't know how good its step waveform actually is yet
well - we do have the gantry with steppers...
does it need high step rates?
only z - it has an input scale of 10000
but it would be nice to play with.
takes step+direction input?
great - something else to play with..
like I have time for that ;)
SWPadnos: the easiest way for me would be if you would make a package that installs your program (script) and also a menu item to run it
[23:45:40] <jepler> http://emergent.unpy.net/index.cgi-files/sandbox/simulated-step-waveform.png
-- showing movement at 2 different velocities (left) then a direction change with space before and after (right). green is step, red is direction.
I don't actually have anything that takes step+direction inputs or I might actually test it myself
I wonder why the feedback velocity is 5% off from the requested velocity
this is pluto stepgen?