I think I got emc into an odd state. I was running z to 0 and I think it overshot just a little bit and hit the limit switch which sent it into estop, I now have a scrolling 'exceeded negative soft limit on joint 2'
I got that scrolling forever too, just yesterday? it was when I did some weirdo thing with my rotary table (I think I homed it while I had pid unhooked, and then it gleefully flew past the soft limit because it was open loop)
skunkKandT: why not just set the index between steps, so when you home (index only), it always moves by one step?
skunkKandT: you have no choice currently - it WILL unlock during homing
(if you put it in the middle of the slack, you won't know which side of it you're on when you start up)
oh I kept reading - you've got a scheme to deal with that
hmm - that might be an option. it would go up - rotate until it finds the index - rotates back - sets down.
I didn't think of that - you're right - it could just move back
that's sure simpler?
right - the offset
I think so. acomplishes the same thing
then if you g0 g53 a0 before you shut down, you'll never have to mess with it
(or g28 even)
I feel such a fool.
I have been wondering why my bldc motor won't commute.
Turns out that I can't decide how many degrees are in a full circle.
pi! 2pi! 400!
I have 1024 in a resolver circle, 360 in the bldc-sine component and 1 in the 8i20 driver.
It was that last bit that was causing the problem
The bit-dither in the resolver output was casing utterly random movement n the 8i20 driver
Now the question is, what is the _right_ number.
It's -1 to 1 for current, should I have 0 to 1, -1 to 1, 0 to 360, -180 to 180 for the phase-angle input?
I have no idea :-)
spindle encoder scaling is 1.0 increase per rotation - nothing else really deals with rotations
might want to consider how the future canonical hal resolver interface will look, and match that
_Is_ there a future canonical HAL resolver interface?
heh, I hope there is, since the 7i49 or whatever it's called is coming
I wonder who is writing the driver for that?
ummm, I volunteer ... anyone else
if I ruled the universe (I don't) I think I'd want it to be just like an encoder with index at "0" with an additional hal pin that shows the absolute position scaled 0..1
It sounds like an easy one, so perhaps even me. The 8i20 has not been easy, having a second layer of abstraction and numerous buggy drivers. (to the extent of several code tear-ups, wondering how I broke it, and then finding it was broken in the firmware. Grumble)
wish you could come to fest...
Yes, 0-1 makes sense, saves a lot of dividing.
I will do it that way, and make bldc-sine talk in terms of fractional turns too.
In theory I could come to the fest, but it is a lot of money.
I think 0-1 is the scheme you can choose where nobody will say it's clearly crazy :-)
Actually, it is less money than last time I looked. £383 now.
wow, that seems not bad at all
although, your money is worth more than mine :-)
does that get you to wichita?
Yes, though not necesarily the correct Wichita
wichita KS, lower middle of the US
(I guessed at Wichita, KS, not Wichita Falls.
yep that's the one
Seen pcnx's picture?
Not what I thought he was on about.
"guess what I think is wrong!!"
"nope!! guess again!!"
Yeah. I do think I have had the "can't do that without being homed, when I am. But I think it comes down to managing to unhome a joint in a machine with more joints than axes
yeah, wouldn't surprise me if that was screwy in master
hmm - z is a little tighter on one end of the travel vs the other.
you can hear it in the helix program on youtube. when z shuttles home - it sounds different initally
it sounds like it is going faster - but in reality it is just the servo working harder.
logger_dev: I liked you better when you'd just disappear after pinging out
I'm logging. I don't understand 'I liked you better when you'd just disappear after pinging out', jepler. Try /msg logger_dev help
logger_dev, don't take things so literally, geez!
I'm logging. I don't understand 'don't take things so literally, geez!', SWPadnos. Try /msg logger_dev help