SnapAMP soft limit issue ?


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  1. #1
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    Default SnapAMP soft limit issue ?

    Hi i finish to setup and make homing on my machine but got some issue whit soft limit switch

    on Z-axi i got 250 encoder cont over shoot on soft limit ,that not critical just anoing
    but on X axis the soft limit not work ! ,debug console tell me limit reach and go into feed hold ,but motor still move until physically spindle hit rotary table

    any idea ? i try many may option for LimitSwitchOptions=0x whit similar result

    Best regard Marc Alphatronique

    that config i use

    #include "KMotionDef.h"

    // Configuration and Homing program for a 3 axis System
    // Limit switches are disabled and used as a home switch
    // then they are re-enabled


    main()
    {
    int SaveXLimits,SaveYLimits,SaveZLimits; //place to save limit switch settings

    DisableAxis(0); // Disable all axes
    DisableAxis(1);
    DisableAxis(2);

    // Set the axis parameters here
    // after everything is configured in the KMotion Screens
    // use copy C Code to clipboard on the configuration screen
    // then paste here. Repeat for each axis

    WriteSnapAmp(SNAP0+SNAP_PEAK_CUR_LIMIT0,10);
    WriteSnapAmp(SNAP0+SNAP_PEAK_CUR_LIMIT1,10);

    ch0->InputMode=ENCODER_MODE;
    ch0->OutputMode=DC_SERVO_MODE;
    ch0->Vel=100000;
    ch0->Accel=2e+06;
    ch0->Jerk=900000;
    ch0->P=30;
    ch0->I=0;
    ch0->D=10;
    ch0->FFAccel=0;
    ch0->FFVel=0;
    ch0->MaxI=200;
    ch0->MaxErr=500;
    ch0->MaxOutput=200;
    ch0->DeadBandGain=1;
    ch0->DeadBandRange=0;
    ch0->InputChan0=8;
    ch0->InputChan1=0;
    ch0->OutputChan0=8;
    ch0->OutputChan1=0;
    ch0->MasterAxis=-1;
    ch0->LimitSwitchOptions=0x120;
    ch0->LimitSwitchNegBit=0;
    ch0->LimitSwitchPosBit=0;
    ch0->SoftLimitPos=100;
    ch0->SoftLimitNeg=-290000;
    ch0->InputGain0=1;
    ch0->InputGain1=1;
    ch0->InputOffset0=0;
    ch0->InputOffset1=0;
    ch0->OutputGain=1;
    ch0->OutputOffset=0;
    ch0->SlaveGain=1;
    ch0->BacklashMode=BACKLASH_OFF;
    ch0->BacklashAmount=0;
    ch0->BacklashRate=0;
    ch0->invDistPerCycle=1;
    ch0->Lead=0;
    ch0->MaxFollowingError=1000;
    ch0->StepperAmplitude=20;

    ch0->iir[0].B0=1;
    ch0->iir[0].B1=0;
    ch0->iir[0].B2=0;
    ch0->iir[0].A1=0;
    ch0->iir[0].A2=0;

    ch0->iir[1].B0=1;
    ch0->iir[1].B1=0;
    ch0->iir[1].B2=0;
    ch0->iir[1].A1=0;
    ch0->iir[1].A2=0;

    ch0->iir[2].B0=1;
    ch0->iir[2].B1=0;
    ch0->iir[2].B2=0;
    ch0->iir[2].A1=0;
    ch0->iir[2].A2=0;

    ch1->InputMode=NO_INPUT_MODE;
    ch1->OutputMode=STEP_DIR_MODE;
    ch1->Vel=10000;
    ch1->Accel=400000;
    ch1->Jerk=4e+06;
    ch1->P=0;
    ch1->I=0.01;
    ch1->D=0;
    ch1->FFAccel=0;
    ch1->FFVel=0;
    ch1->MaxI=200;
    ch1->MaxErr=1e+06;
    ch1->MaxOutput=200;
    ch1->DeadBandGain=1;
    ch1->DeadBandRange=0;
    ch1->InputChan0=0;
    ch1->InputChan1=0;
    ch1->OutputChan0=5;
    ch1->OutputChan1=0;
    ch1->MasterAxis=-1;
    ch1->LimitSwitchOptions=0x100;
    ch1->LimitSwitchNegBit=0;
    ch1->LimitSwitchPosBit=0;
    ch1->SoftLimitPos=1e+06;
    ch1->SoftLimitNeg=1e+06;
    ch1->InputGain0=1;
    ch1->InputGain1=1;
    ch1->InputOffset0=0;
    ch1->InputOffset1=0;
    ch1->OutputGain=1;
    ch1->OutputOffset=0;
    ch1->SlaveGain=1;
    ch1->BacklashMode=BACKLASH_OFF;
    ch1->BacklashAmount=0;
    ch1->BacklashRate=0;
    ch1->invDistPerCycle=1;
    ch1->Lead=0;
    ch1->MaxFollowingError=20;
    ch1->StepperAmplitude=20;

    ch1->iir[0].B0=1;
    ch1->iir[0].B1=0;
    ch1->iir[0].B2=0;
    ch1->iir[0].A1=0;
    ch1->iir[0].A2=0;

    ch1->iir[1].B0=1;
    ch1->iir[1].B1=0;
    ch1->iir[1].B2=0;
    ch1->iir[1].A1=0;
    ch1->iir[1].A2=0;

    ch1->iir[2].B0=1;
    ch1->iir[2].B1=0;
    ch1->iir[2].B2=0;
    ch1->iir[2].A1=0;
    ch1->iir[2].A2=0;


    ch2->InputMode=ENCODER_MODE;
    ch2->OutputMode=STEP_DIR_MODE;
    ch2->Vel=10000;
    ch2->Accel=400000;
    ch2->Jerk=4e+06;
    ch2->P=0;
    ch2->I=0.01;
    ch2->D=0;
    ch2->FFAccel=0;
    ch2->FFVel=0;
    ch2->MaxI=200;
    ch2->MaxErr=1e+06;
    ch2->MaxOutput=200;
    ch2->DeadBandGain=1;
    ch2->DeadBandRange=0;
    ch2->InputChan0=0;
    ch2->InputChan1=0;
    ch2->OutputChan0=4;
    ch2->OutputChan1=0;
    ch2->MasterAxis=-1;
    ch2->LimitSwitchOptions=0x110;
    ch2->LimitSwitchNegBit=0;
    ch2->LimitSwitchPosBit=0;
    ch2->SoftLimitPos=100;
    ch2->SoftLimitNeg=-27000;
    ch2->InputGain0=-2.5;
    ch2->InputGain1=1;
    ch2->InputOffset0=0;
    ch2->InputOffset1=0;
    ch2->OutputGain=1;
    ch2->OutputOffset=0;
    ch2->SlaveGain=1;
    ch2->BacklashMode=BACKLASH_OFF;
    ch2->BacklashAmount=0;
    ch2->BacklashRate=0;
    ch2->invDistPerCycle=1;
    ch2->Lead=0;
    ch2->MaxFollowingError=20;
    ch2->StepperAmplitude=20;

    ch2->iir[0].B0=1;
    ch2->iir[0].B1=0;
    ch2->iir[0].B2=0;
    ch2->iir[0].A1=0;
    ch2->iir[0].A2=0;

    ch2->iir[1].B0=1;
    ch2->iir[1].B1=0;
    ch2->iir[1].B2=0;
    ch2->iir[1].A1=0;
    ch2->iir[1].A2=0;

    ch2->iir[2].B0=1;
    ch2->iir[2].B1=0;
    ch2->iir[2].B2=0;
    ch2->iir[2].A1=0;
    ch2->iir[2].A2=0;





    // disable the limits (first save how they were set)
    SaveXLimits = ch0->LimitSwitchOptions;
    SaveYLimits = ch1->LimitSwitchOptions;
    SaveZLimits = ch2->LimitSwitchOptions;
    // ch0->LimitSwitchOptions = 0;
    // ch1->LimitSwitchOptions = 0;
    // ch2->LimitSwitchOptions = 0;

    // enable all 3 axes and begin servoing where we are

    EnableAxis(0);
    EnableAxis(1);
    EnableAxis(2);


    // Home Z up first - jog until it sees the limit
    ch2->SoftLimitPos=270000;
    ch2->SoftLimitNeg=-270000;
    Jog(2,500); // jog slowly positive
    while (!ReadBit(76)) ; // loop until IO bit goes high
    Jog(2,0); // stop
    while (!CheckDone(2)) ; // loop until motion completes
    DisableAxis(2); // disable the axis
    Zero(2); // Zero the position
    ch2->SoftLimitPos=100;
    ch2->SoftLimitNeg=-26000;

    EnableAxis(2); // re-enable the ServoTick
    Move(2,-1000.0); // move some amount inside the limits
    while (!CheckDone(2)) ; // loop until motion completes
    //ch2->LimitSwitchOptions = SaveZLimits; // restore limit settings

    // Home X next - jog until it sees the limit
    ch0->SoftLimitPos=290000;
    ch0->SoftLimitNeg=-290000;
    Jog(0,1000); // jog slowly negative
    while (!ReadBit(77)) ; // loop until IO bit goes high
    Jog(0,0); // stop
    while (!CheckDone(0)) ; // loop until motion completes
    DisableAxis(0); // disable the axis
    Zero(0); // Zero the position
    ch0->SoftLimitPos=100;
    ch0->SoftLimitNeg=-290000;

    EnableAxis(0); // re-enable the ServoTick

    Move(0,-1000.0); // move some amount inside the limits
    while (!CheckDone(0)) ; // loop until motion completes
    //ch0->LimitSwitchOptions = SaveXLimits; // restore limit settings


    // Home Y next - jog until it sees the limit

    // Jog(1,-100); // jog slowly negative
    // while (!ReadBit(9)) ; // loop until IO bit goes high
    // Jog(1,0); // stop
    // while (!CheckDone(1)) ; // loop until motion completes
    // DisableAxis(1); // disable the axis
    // Zero(1); // Zero the position
    // EnableAxis(1); // re-enable the ServoTick
    // Move(1,1000.0); // move some amount inside the limits
    // while (!CheckDone(1)) ; // loop until motion completes
    ch1->LimitSwitchOptions = SaveYLimits; // restore limit settings

    // DefineCoordSystem(0,1,2,-1); //Define XYZ coordinated motion axes
    }

    Similar Threads:
    Attached Thumbnails Attached Thumbnails SnapAMP soft limit issue ?-kflop-jpg  


  2. #2
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    Default Re: SnapAMP soft limit issue ?

    i use version KMotion434k



  3. #3
    Gold Member TomKerekes's Avatar
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    Default Re: SnapAMP soft limit issue ?

    Hi Marc,

    Strange. I'm not sure why. Here are some things to check:

    The Soft Limits issue a Feedhold which only stops the Axes defined in the Coordinated Motion System. I see you have your

    //DefineCoordSystem(0,1,2,-1); //Define XYZ coordinated motion axes

    commented out. Did you exclude X from the Coordinated Motion System? Please define the Coordinate System.

    Have you Flashed any changes to KFLOP? If so please restore by doing a "New Version".

    I see Axis 1 has the Neg Limit set to a Positive number. This may trigger an immediate Feedhold when enabled.

    ch1->SoftLimitPos=1e+06;
    ch1->SoftLimitNeg=1e+06;

    Please check that your Init program actually finishes and the Soft Limits are set properly.

    Regards

    TK
    http://dynomotion.com


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    Default Re: SnapAMP soft limit issue ?

    Hi

    system init and the tread end so that part seem good

    Ch1 not have or use limit Switch it a rotary table "A" axis

    will test Coordinated Motion System
    i commented it since not idea what that do , have assumed that is for G-code part and not yet a that step , so probably bad idea ;-)



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    Default Re: SnapAMP soft limit issue ?

    ok uncommnet the DefineCoordSystem(0,1,2,-1) and still same issue ,and i able to move 30000 over the limit that is ~1 feet !!



  6. #6
    Gold Member TomKerekes's Avatar
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    Default Re: SnapAMP soft limit issue ?

    Hi Marc,

    So your resolution is ~ 2500 counts/inch?

    You are commanding a Velocity of 100000 counts/sec. That's 40ips (2400ipm). Can your system really move that fast??

    You are also specifying a fairly low Jerk of 900000 counts/sec^3. With these settings you are forcing KFLOP to accelerate and decelerate over ~ 1 foot.

    Here is a plot of your settings. Notice it takes about 35000 counts to accelerate and 35000 counts to decelerate:

    SnapAMP soft limit issue ?-lowjerkcommand-png

    Can you reduce your Max Velocity and increase Jerk to allow KFLOP to stop in a shorter distance?

    Regards

    TK
    http://dynomotion.com


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    Default Re: SnapAMP soft limit issue ?

    HI this may help figure the machine no extremely fast i slow down speed
    on the X each encoder count = 6um

    the hight velocity come from the 5,000 cont encoder so Kflop see 20,000 per revolution , 6 feet of travel = ~290,000 cont
    so 4027 count per inch

    i must admit that the "jerk" confuse me a bit ..

    Best regard



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    Default Re: SnapAMP soft limit issue ?

    have increase jerk ,move start to be bit bit violent and got axi following error

    it bit help a bit but still 16000 cont so 4" , need to be under 1/2" or better

    did the trajectory planet on the CNC soft help a bit on this ?? i try to have fist layer reliable before put G-code over head



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    Default Re: SnapAMP soft limit issue ?

    i end up whit 1/2 delrin rod as shock absorber for avoid spindle hit

    increase jerk and velocity and even slower accel and still need significant deceleration time



  10. #10
    Gold Member TomKerekes's Avatar
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    Default Re: SnapAMP soft limit issue ?

    Hi Mark,

    It seems your system really needs a large distance to start and stop.

    In this case you can add a User Program that will monitor Velocity, Acceleration, and Distance to the Soft Limits to begin stopping before reaching the Soft Limits.

    See the AdjustSoftLimits.c and AdjustSoftLimitsTest.c examples.

    Here is the code you will need to add:
    Code:
    #include "KMotionDef.h"
    #include "AdjustSoftLimits.c"
    
    // tests functionality of adjusting softlimits feedhold based on 
    // Velocity and Acceleration using the CheckDistToStop Calculations
    
    main()
    {
        for (;;)
        {
            WaitNextTimeSlice();
            CheckDistToStop(ch0);
            CheckDistToStop(ch2);
        }
    }
    HTH
    Regards

    TK
    http://dynomotion.com


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SnapAMP soft limit issue ?

SnapAMP soft limit issue ?