I have KMotion and KMotionCNC running G code happily and displaying X, Y and Z movements while the servos are off and without generating any errors - similar to running in open loop. But the encoders are working and counts are small when testing with the Step Response Screen and the servos are on.

I am trying to force an error by switching the servos off. I have tried setting the Error values under Max Limits on the Step Screen to very small values like 10 and 20. I also set the MaxFollowingError on the Config Screen to simlar values. Neither made any difference. I had hoped that the software would report an error once it sees an axis is not moving.

Has anyone had a similar experience and/or found a solution?

Regards

Hi Eon,

The software will report an error if it sees the Axes are not moving properly. Setting a small Max Following Error will cause the Axis to disable on a large following error and any Axis in the Coordinate System that is disabled will halt the GCode.

Please post your Initialization C Program that you are using to initialize your system.

Regards
TK

On Jan 4, 2016, at 7:12 AM, eondekoker@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:

Hi

I have KMotion and KMotionCNC running G code happily and displaying X, Y and Z movements while the servos are off and without generating any errors - similar to running in open loop. But the encoders are working and counts are small when testing with the Step Response Screen and the servos are on.

I am trying to force an error by switching the servos off. I have tried setting the Error values under Max Limits on the Step Screen to very small values like 10 and 20. I also set the MaxFollowingError on the Config Screen to simlar values. Neither made any difference. I had hoped that the software would report an error once it sees an axis is not moving.

Has anyone had a similar experience and/or found a solution?

Regards

Thanks Tom

Please find the script:

#include "KMotionDef.h"

// Defines axis 0, 1, 2 as simple step dir outputs

// enables them

// sets them as an xyz coordinate system for GCode

int main()

{

ch0->InputMode=ENCODER_MODE;

ch0->OutputMode=DAC_SERVO_MODE;

ch0->Vel=4000;

ch0->Accel=8000;

ch0->Jerk=80000;

ch0->P=20;

ch0->I=0.0002;

ch0->D=150;

ch0->FFAccel=0;

ch0->FFVel=0.38;

ch0->MaxI=2000;

ch0->MaxErr=100000;

ch0->MaxOutput=10000;

ch0->DeadBandGain=1;

ch0->DeadBandRange=0;

ch0->InputChan0=4;

ch0->InputChan1=4;

ch0->OutputChan0=0;

ch0->OutputChan1=1;

ch0->MasterAxis=-1;

ch0->LimitSwitchOptions=0x100;

ch0->LimitSwitchNegBit=0;

ch0->LimitSwitchPosBit=0;

ch0->SoftLimitPos=1e+009;

ch0->SoftLimitNeg=-1e+009;

ch0->InputGain0=1;

ch0->InputGain1=1;

ch0->InputOffset0=0;

ch0->InputOffset1=2.5;

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=50;

ch0->StepperAmplitude=250;

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=0.00641859;

ch0->iir[2].B1=0.0128372;

ch0->iir[2].B2=0.00641859;

ch0->iir[2].A1=1.76281;

ch0->iir[2].A2=-0.78848;

EnableAxisDest(0,0);

ch1->InputMode=ENCODER_MODE;

ch1->OutputMode=DAC_SERVO_MODE;

ch1->Vel=4000;

ch1->Accel=8000;

ch1->Jerk=80000;

ch1->P=15;

ch1->I=1e-005;

ch1->D=200;

ch1->FFAccel=-0.001;

ch1->FFVel=0.43;

ch1->MaxI=1000;

ch1->MaxErr=100000;

ch1->MaxOutput=2000;

ch1->DeadBandGain=1;

ch1->DeadBandRange=0;

ch1->InputChan0=5;

ch1->InputChan1=6;

ch1->OutputChan0=1;

ch1->OutputChan1=0;

ch1->MasterAxis=-1;

ch1->LimitSwitchOptions=0x100;

ch1->LimitSwitchNegBit=0;

ch1->LimitSwitchPosBit=0;

ch1->SoftLimitPos=1e+009;

ch1->SoftLimitNeg=-1e+009;

ch1->InputGain0=1;

ch1->InputGain1=2;

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=0.00641907;

ch1->iir[2].B1=0.0128381;

ch1->iir[2].B2=0.00641907;

ch1->iir[2].A1=1.76294;

ch1->iir[2].A2=-0.788615;

EnableAxisDest(1,0);

ch2->InputMode=ENCODER_MODE;

ch2->OutputMode=DAC_SERVO_MODE;

ch2->Vel=4000;

ch2->Accel=8000;

ch2->Jerk=80000;

ch2->P=12;

ch2->I=0;

ch2->D=20;

ch2->FFAccel=0;

ch2->FFVel=0.2;

ch2->MaxI=2000;

ch2->MaxErr=100000;

ch2->MaxOutput=2000;

ch2->DeadBandGain=1;

ch2->DeadBandRange=0;

ch2->InputChan0=6;

ch2->InputChan1=14;

ch2->OutputChan0=2;

ch2->OutputChan1=0;

ch2->MasterAxis=-1;

ch2->LimitSwitchOptions=0x100;

ch2->LimitSwitchNegBit=0;

ch2->LimitSwitchPosBit=0;

ch2->SoftLimitPos=1e+009;

ch2->SoftLimitNeg=-1e+009;

ch2->InputGain0=1;

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=0.0166094;

ch2->iir[2].B1=0.0332189;

ch2->iir[2].B2=0.0166094;

ch2->iir[2].A1=1.60679;

ch2->iir[2].A2=-0.673229;

EnableAxisDest(2,0);

ch0->OutputOffset=2;

EnableAxisDest(0,0);

ch1->OutputOffset=-8;

EnableAxisDest(1,0);

ch2->OutputOffset=-7;

EnableAxisDest(2,0);

DefineCoordSystem(0,1,2,-1);

Delay_sec(2);

SetBit(152);

return 0;

}

The SetBit(152) is to pull a relay to allow the servos to start.

Thanks Tom

I am trying to force the system to generate the error but nothing is happening. Here is the initialisation script:

#include "KMotionDef.h"

// Defines axis 0, 1, 2 as simple step dir outputs

// enables them

// sets them as an xyz coordinate system for GCode

int main()

{

ch0->InputMode=ENCODER_MODE;

ch0->OutputMode=DAC_SERVO_MODE;

ch0->Vel=4000;

ch0->Accel=8000;

ch0->Jerk=80000;

ch0->P=20;

ch0->I=0.0002;

ch0->D=150;

ch0->FFAccel=0;

ch0->FFVel=0.38;

ch0->MaxI=2000;

ch0->MaxErr=100000;

ch0->MaxOutput=10000;

ch0->DeadBandGain=1;

ch0->DeadBandRange=0;

ch0->InputChan0=4;

ch0->InputChan1=4;

ch0->OutputChan0=0;

ch0->OutputChan1=1;

ch0->MasterAxis=-1;

ch0->LimitSwitchOptions=0x100;

ch0->LimitSwitchNegBit=0;

ch0->LimitSwitchPosBit=0;

ch0->SoftLimitPos=1e+009;

ch0->SoftLimitNeg=-1e+009;

ch0->InputGain0=1;

ch0->InputGain1=1;

ch0->InputOffset0=0;

ch0->InputOffset1=2.5;

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=50;

ch0->StepperAmplitude=250;

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=0.00641859;

ch0->iir[2].B1=0.0128372;

ch0->iir[2].B2=0.00641859;

ch0->iir[2].A1=1.76281;

ch0->iir[2].A2=-0.78848;

EnableAxisDest(0,0);

ch1->InputMode=ENCODER_MODE;

ch1->OutputMode=DAC_SERVO_MODE;

ch1->Vel=4000;

ch1->Accel=8000;

ch1->Jerk=80000;

ch1->P=15;

ch1->I=1e-005;

ch1->D=200;

ch1->FFAccel=-0.001;

ch1->FFVel=0.43;

ch1->MaxI=1000;

ch1->MaxErr=100000;

ch1->MaxOutput=2000;

ch1->DeadBandGain=1;

ch1->DeadBandRange=0;

ch1->InputChan0=5;

ch1->InputChan1=6;

ch1->OutputChan0=1;

ch1->OutputChan1=0;

ch1->MasterAxis=-1;

ch1->LimitSwitchOptions=0x100;

ch1->LimitSwitchNegBit=0;

ch1->LimitSwitchPosBit=0;

ch1->SoftLimitPos=1e+009;

ch1->SoftLimitNeg=-1e+009;

ch1->InputGain0=1;

ch1->InputGain1=2;

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=0.00641907;

ch1->iir[2].B1=0.0128381;

ch1->iir[2].B2=0.00641907;

ch1->iir[2].A1=1.76294;

ch1->iir[2].A2=-0.788615;

EnableAxisDest(1,0);

ch2->InputMode=ENCODER_MODE;

ch2->OutputMode=DAC_SERVO_MODE;

ch2->Vel=4000;

ch2->Accel=8000;

ch2->Jerk=80000;

ch2->P=12;

ch2->I=0;

ch2->D=20;

ch2->FFAccel=0;

ch2->FFVel=0.2;

ch2->MaxI=2000;

ch2->MaxErr=100000;

ch2->MaxOutput=2000;

ch2->DeadBandGain=1;

ch2->DeadBandRange=0;

ch2->InputChan0=6;

ch2->InputChan1=14;

ch2->OutputChan0=2;

ch2->OutputChan1=0;

ch2->MasterAxis=-1;

ch2->LimitSwitchOptions=0x100;

ch2->LimitSwitchNegBit=0;

ch2->LimitSwitchPosBit=0;

ch2->SoftLimitPos=1e+009;

ch2->SoftLimitNeg=-1e+009;

ch2->InputGain0=1;

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=0.0166094;

ch2->iir[2].B1=0.0332189;

ch2->iir[2].B2=0.0166094;

ch2->iir[2].A1=1.60679;

ch2->iir[2].A2=-0.673229;

EnableAxisDest(2,0);

ch0->OutputOffset=2;

EnableAxisDest(0,0);

ch1->OutputOffset=-8;

EnableAxisDest(1,0);

ch2->OutputOffset=-7;

EnableAxisDest(2,0);

DefineCoordSystem(0,1,2,-1);

Delay_sec(2);

SetBit(152);

return 0;

}

The SetBit(152) is to pull the FET switch to activate a relay which allows the servos to start.

Hi Eon,

The Initialization C Program looks correct to me.

Do you have it assigned to a User Button in KMotionCNC and are you pushing the button to execute it?

Please post a screen capture of your KMotionCNC Tool Setup Trajectory Planner Screen.

Regards
TK

On Jan 4, 2016, at 9:42 PM, eondekoker@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:

Thanks Tom

I am trying to force the system to generate the error but nothing is happening. Here is the initialisation script:

#include "KMotionDef.h"

// Defines axis 0, 1, 2 as simple step dir outputs
// enables them
// sets them as an xyz coordinate system for GCode

int main()
{

ch0->InputMode=ENCODER_MODE;
ch0->OutputMode=DAC_SERVO_MODE;
ch0->Vel=4000;
ch0->Accel=8000;
ch0->Jerk=80000;
ch0->P=20;
ch0->I=0.0002;
ch0->D=150;
ch0->FFAccel=0;
ch0->FFVel=0.38;
ch0->MaxI=2000;
ch0->MaxErr=100000;
ch0->MaxOutput=10000;
ch0->DeadBandGain=1;
ch0->DeadBandRange=0;
ch0->InputChan0=4;
ch0->InputChan1=4;
ch0->OutputChan0=0;
ch0->OutputChan1=1;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x100;
ch0->LimitSwitchNegBit=0;
ch0->LimitSwitchPosBit=0;
ch0->SoftLimitPos=1e+009;
ch0->SoftLimitNeg=-1e+009;
ch0->InputGain0=1;
ch0->InputGain1=1;
ch0->InputOffset0=0;
ch0->InputOffset1=2.5;
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=50;
ch0->StepperAmplitude=250;

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=0.00641859;
ch0->iir[2].B1=0.0128372;
ch0->iir[2].B2=0.00641859;
ch0->iir[2].A1=1.76281;
ch0->iir[2].A2=-0.78848;

EnableAxisDest(0,0);

ch1->InputMode=ENCODER_MODE;
ch1->OutputMode=DAC_SERVO_MODE;
ch1->Vel=4000;
ch1->Accel=8000;
ch1->Jerk=80000;
ch1->P=15;
ch1->I=1e-005;
ch1->D=200;
ch1->FFAccel=-0.001;
ch1->FFVel=0.43;
ch1->MaxI=1000;
ch1->MaxErr=100000;
ch1->MaxOutput=2000;
ch1->DeadBandGain=1;
ch1->DeadBandRange=0;
ch1->InputChan0=5;
ch1->InputChan1=6;
ch1->OutputChan0=1;
ch1->OutputChan1=0;
ch1->MasterAxis=-1;
ch1->LimitSwitchOptions=0x100;
ch1->LimitSwitchNegBit=0;
ch1->LimitSwitchPosBit=0;
ch1->SoftLimitPos=1e+009;
ch1->SoftLimitNeg=-1e+009;
ch1->InputGain0=1;
ch1->InputGain1=2;
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=0.00641907;
ch1->iir[2].B1=0.0128381;
ch1->iir[2].B2=0.00641907;
ch1->iir[2].A1=1.76294;
ch1->iir[2].A2=-0.788615;

EnableAxisDest(1,0);

ch2->InputMode=ENCODER_MODE;
ch2->OutputMode=DAC_SERVO_MODE;
ch2->Vel=4000;
ch2->Accel=8000;
ch2->Jerk=80000;
ch2->P=12;
ch2->I=0;
ch2->D=20;
ch2->FFAccel=0;
ch2->FFVel=0.2;
ch2->MaxI=2000;
ch2->MaxErr=100000;
ch2->MaxOutput=2000;
ch2->DeadBandGain=1;
ch2->DeadBandRange=0;
ch2->InputChan0=6;
ch2->InputChan1=14;
ch2->OutputChan0=2;
ch2->OutputChan1=0;
ch2->MasterAxis=-1;
ch2->LimitSwitchOptions=0x100;
ch2->LimitSwitchNegBit=0;
ch2->LimitSwitchPosBit=0;
ch2->SoftLimitPos=1e+009;
ch2->SoftLimitNeg=-1e+009;
ch2->InputGain0=1;
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=0.0166094;
ch2->iir[2].B1=0.0332189;
ch2->iir[2].B2=0.0166094;
ch2->iir[2].A1=1.60679;
ch2->iir[2].A2=-0.673229;

EnableAxisDest(2,0);

ch0->OutputOffset=2;

EnableAxisDest(0,0);
ch1->OutputOffset=-8;
EnableAxisDest(1,0);
ch2->OutputOffset=-7;
EnableAxisDest(2,0);

DefineCoordSystem(0,1,2,-1);
Delay_sec(2);
SetBit(152);
return 0;
}

The SetBit(152) is to pull the FET switch to activate a relay which allows the servos to start.

Hi Tom

The Initialisation program runs in Thread 1 and is started by pushing the INIT button. Here is the screen capture of the Trajectory screen.

On Tue, Jan 5, 2016 at 7:43 PM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:

Hi Eon,

The Initialization C Program looks correct to me.

Do you have it assigned to a User Button in KMotionCNC and are you pushing the button to execute it?

Please post a screen capture of your KMotionCNC Tool Setup Trajectory Planner Screen.

Regards
TK

On Jan 4, 2016, at 9:42 PM, eondekoker@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:

Thanks Tom

I am trying to force the system to generate the error but nothing is happening. Here is the initialisation script:

#include "KMotionDef.h"

// Defines axis 0, 1, 2 as simple step dir outputs
// enables them
// sets them as an xyz coordinate system for GCode

int main()
{

ch0->InputMode=ENCODER_MODE;
ch0->OutputMode=DAC_SERVO_MODE;
ch0->Vel=4000;
ch0->Accel=8000;
ch0->Jerk=80000;
ch0->P=20;
ch0->I=0.0002;
ch0->D=150;
ch0->FFAccel=0;
ch0->FFVel=0.38;
ch0->MaxI=2000;
ch0->MaxErr=100000;
ch0->MaxOutput=10000;
ch0->DeadBandGain=1;
ch0->DeadBandRange=0;
ch0->InputChan0=4;
ch0->InputChan1=4;
ch0->OutputChan0=0;
ch0->OutputChan1=1;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x100;
ch0->LimitSwitchNegBit=0;
ch0->LimitSwitchPosBit=0;
ch0->SoftLimitPos=1e+009;
ch0->SoftLimitNeg=-1e+009;
ch0->InputGain0=1;
ch0->InputGain1=1;
ch0->InputOffset0=0;
ch0->InputOffset1=2.5;
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=50;
ch0->StepperAmplitude=250;

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=0.00641859;
ch0->iir[2].B1=0.0128372;
ch0->iir[2].B2=0.00641859;
ch0->iir[2].A1=1.76281;
ch0->iir[2].A2=-0.78848;

EnableAxisDest(0,0);

ch1->InputMode=ENCODER_MODE;
ch1->OutputMode=DAC_SERVO_MODE;
ch1->Vel=4000;
ch1->Accel=8000;
ch1->Jerk=80000;
ch1->P=15;
ch1->I=1e-005;
ch1->D=200;
ch1->FFAccel=-0.001;
ch1->FFVel=0.43;
ch1->MaxI=1000;
ch1->MaxErr=100000;
ch1->MaxOutput=2000;
ch1->DeadBandGain=1;
ch1->DeadBandRange=0;
ch1->InputChan0=5;
ch1->InputChan1=6;
ch1->OutputChan0=1;
ch1->OutputChan1=0;
ch1->MasterAxis=-1;
ch1->LimitSwitchOptions=0x100;
ch1->LimitSwitchNegBit=0;
ch1->LimitSwitchPosBit=0;
ch1->SoftLimitPos=1e+009;
ch1->SoftLimitNeg=-1e+009;
ch1->InputGain0=1;
ch1->InputGain1=2;
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=0.00641907;
ch1->iir[2].B1=0.0128381;
ch1->iir[2].B2=0.00641907;
ch1->iir[2].A1=1.76294;
ch1->iir[2].A2=-0.788615;

EnableAxisDest(1,0);

ch2->InputMode=ENCODER_MODE;
ch2->OutputMode=DAC_SERVO_MODE;
ch2->Vel=4000;
ch2->Accel=8000;
ch2->Jerk=80000;
ch2->P=12;
ch2->I=0;
ch2->D=20;
ch2->FFAccel=0;
ch2->FFVel=0.2;
ch2->MaxI=2000;
ch2->MaxErr=100000;
ch2->MaxOutput=2000;
ch2->DeadBandGain=1;
ch2->DeadBandRange=0;
ch2->InputChan0=6;
ch2->InputChan1=14;
ch2->OutputChan0=2;
ch2->OutputChan1=0;
ch2->MasterAxis=-1;
ch2->LimitSwitchOptions=0x100;
ch2->LimitSwitchNegBit=0;
ch2->LimitSwitchPosBit=0;
ch2->SoftLimitPos=1e+009;
ch2->SoftLimitNeg=-1e+009;
ch2->InputGain0=1;
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=0.0166094;
ch2->iir[2].B1=0.0332189;
ch2->iir[2].B2=0.0166094;
ch2->iir[2].A1=1.60679;
ch2->iir[2].A2=-0.673229;

EnableAxisDest(2,0);

ch0->OutputOffset=2;

EnableAxisDest(0,0);
ch1->OutputOffset=-8;
EnableAxisDest(1,0);
ch2->OutputOffset=-7;
EnableAxisDest(2,0);

DefineCoordSystem(0,1,2,-1);
Delay_sec(2);
SetBit(152);
return 0;
}

The SetBit(152) is to pull the FET switch to activate a relay which allows the servos to start.

Thanks Tom for your patience. I eventually found the problem. The INIT button pointed to a Config file in another directory. So I was making changes in one file while running another file with the same name in a different directory. That file had MaxFollowingError set to the default value.

On Tue, Jan 5, 2016 at 7:53 PM, Eon deKoker <eondekoker@...> wrote:
Hi Tom

The Initialisation program runs in Thread 1 and is started by pushing the INIT button. Here is the screen capture of the Trajectory screen.

On Tue, Jan 5, 2016 at 7:43 PM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:

Hi Eon,

The Initialization C Program looks correct to me.

Do you have it assigned to a User Button in KMotionCNC and are you pushing the button to execute it?

Please post a screen capture of your KMotionCNC Tool Setup Trajectory Planner Screen.

Regards
TK

On Jan 4, 2016, at 9:42 PM, eondekoker@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:

Thanks Tom

I am trying to force the system to generate the error but nothing is happening. Here is the initialisation script:

#include "KMotionDef.h"

// Defines axis 0, 1, 2 as simple step dir outputs
// enables them
// sets them as an xyz coordinate system for GCode

int main()
{

ch0->InputMode=ENCODER_MODE;
ch0->OutputMode=DAC_SERVO_MODE;
ch0->Vel=4000;
ch0->Accel=8000;
ch0->Jerk=80000;
ch0->P=20;
ch0->I=0.0002;
ch0->D=150;
ch0->FFAccel=0;
ch0->FFVel=0.38;
ch0->MaxI=2000;
ch0->MaxErr=100000;
ch0->MaxOutput=10000;
ch0->DeadBandGain=1;
ch0->DeadBandRange=0;
ch0->InputChan0=4;
ch0->InputChan1=4;
ch0->OutputChan0=0;
ch0->OutputChan1=1;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x100;
ch0->LimitSwitchNegBit=0;
ch0->LimitSwitchPosBit=0;
ch0->SoftLimitPos=1e+009;
ch0->SoftLimitNeg=-1e+009;
ch0->InputGain0=1;
ch0->InputGain1=1;
ch0->InputOffset0=0;
ch0->InputOffset1=2.5;
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=50;
ch0->StepperAmplitude=250;

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=0.00641859;
ch0->iir[2].B1=0.0128372;
ch0->iir[2].B2=0.00641859;
ch0->iir[2].A1=1.76281;
ch0->iir[2].A2=-0.78848;

EnableAxisDest(0,0);

ch1->InputMode=ENCODER_MODE;
ch1->OutputMode=DAC_SERVO_MODE;
ch1->Vel=4000;
ch1->Accel=8000;
ch1->Jerk=80000;
ch1->P=15;
ch1->I=1e-005;
ch1->D=200;
ch1->FFAccel=-0.001;
ch1->FFVel=0.43;
ch1->MaxI=1000;
ch1->MaxErr=100000;
ch1->MaxOutput=2000;
ch1->DeadBandGain=1;
ch1->DeadBandRange=0;
ch1->InputChan0=5;
ch1->InputChan1=6;
ch1->OutputChan0=1;
ch1->OutputChan1=0;
ch1->MasterAxis=-1;
ch1->LimitSwitchOptions=0x100;
ch1->LimitSwitchNegBit=0;
ch1->LimitSwitchPosBit=0;
ch1->SoftLimitPos=1e+009;
ch1->SoftLimitNeg=-1e+009;
ch1->InputGain0=1;
ch1->InputGain1=2;
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=0.00641907;
ch1->iir[2].B1=0.0128381;
ch1->iir[2].B2=0.00641907;
ch1->iir[2].A1=1.76294;
ch1->iir[2].A2=-0.788615;

EnableAxisDest(1,0);

ch2->InputMode=ENCODER_MODE;
ch2->OutputMode=DAC_SERVO_MODE;
ch2->Vel=4000;
ch2->Accel=8000;
ch2->Jerk=80000;
ch2->P=12;
ch2->I=0;
ch2->D=20;
ch2->FFAccel=0;
ch2->FFVel=0.2;
ch2->MaxI=2000;
ch2->MaxErr=100000;
ch2->MaxOutput=2000;
ch2->DeadBandGain=1;
ch2->DeadBandRange=0;
ch2->InputChan0=6;
ch2->InputChan1=14;
ch2->OutputChan0=2;
ch2->OutputChan1=0;
ch2->MasterAxis=-1;
ch2->LimitSwitchOptions=0x100;
ch2->LimitSwitchNegBit=0;
ch2->LimitSwitchPosBit=0;
ch2->SoftLimitPos=1e+009;
ch2->SoftLimitNeg=-1e+009;
ch2->InputGain0=1;
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=0.0166094;
ch2->iir[2].B1=0.0332189;
ch2->iir[2].B2=0.0166094;
ch2->iir[2].A1=1.60679;
ch2->iir[2].A2=-0.673229;

EnableAxisDest(2,0);

ch0->OutputOffset=2;

EnableAxisDest(0,0);
ch1->OutputOffset=-8;
EnableAxisDest(1,0);
ch2->OutputOffset=-7;
EnableAxisDest(2,0);

DefineCoordSystem(0,1,2,-1);
Delay_sec(2);
SetBit(152);
return 0;
}

The SetBit(152) is to pull the FET switch to activate a relay which allows the servos to start.

Group: DynoMotion	Message: 12656	From: peterpan1e6	Date: 1/4/2016
Subject: KMotion running while servos are off

Group: DynoMotion	Message: 12657	From: Tom Kerekes	Date: 1/4/2016
Subject: Re: KMotion running while servos are off

Group: DynoMotion	Message: 12662	From: peterpan1e6	Date: 1/4/2016
Subject: Re: KMotion running while servos are off

Group: DynoMotion	Message: 12663	From: peterpan1e6	Date: 1/4/2016
Subject: Re: KMotion running while servos are off

Group: DynoMotion	Message: 12670	From: Tom Kerekes	Date: 1/5/2016
Subject: Re: KMotion running while servos are off

Group: DynoMotion	Message: 12671	From: Eon deKoker	Date: 1/5/2016
Subject: Re: KMotion running while servos are off

Group: DynoMotion	Message: 12672	From: Eon deKoker	Date: 1/5/2016
Subject: Re: KMotion running while servos are off