Hi Phil,
Sorry I forgot you have a KSTEP that normally uses all of KFLOP JP7 and makes it difficult to use KFLOP's Serial UART on JP7.
The only things I can think of are:
#1 break out wires IO44 Pin6 and IO45 Pin7 from KFLOP JP7 to make use of the UART. These two signals will then be missing going to KSTEP. IO44 is normally configured as a PWM signal to make use of KSTEP's Analog Output. If you don't need the Analog output then you can leave this signal open. If the Analog signal is required then one of KSTEP's other PWM outputs could be wired to this pin. IO45 is normally used to control the Enable Signal to KSTEP. The Enable input on KSTEP J6 (or the original JP36 Pin7) can be connected to another 3.3V output or wired to 3.3V directly to Enable KSTEP.
#2 Use KFLOP JP5 to connect Step/Dir signals to KSTEP to completely free up KFLOP JP7. In this case +5V, GND, and Enable will need to be wired externally to KSTEP J6. The Opto IO (KSTEP JP33) will not be available.
HTH Regards TK
| Group: DynoMotion |
Message: 10241 |
From: phil loder |
Date: 10/3/2014 |
| Subject: Re: PLC control of positions |
Tom, I have decided to go with the inputs on the konnect 0-8 for my position word value of 0-511 and use 9 to start the motion. 11 is the eject command and 11-14 reserved for control input functions at a later date and 15 for a home routine. First the inputs 0-8 wont be debounced as nothing happens till input 9 "bit 1033" is debounced and true. x positions are equal .5" increments from 1 to 66 columns starting at 2". y position will be a constant value between 6 rows starting at 4" and decreasing .5" for each row and Zero. z position is either zero or -1.0". if position value >1 and <66 then x=2+(position * .5) y=4 and when move is complete z=-1.0 and output 0 bit "Virtual 48" comes on indication motion complete like the InputTriggersMotion.c program you sent. all axis motion will hold untill the plc issues a "Eject" command on input 11 " bit 1035" that retracts z to zero and then y to zero. When complete it turns on output 1 bit "Virtual 49" showing machine is in eject position. it will remain there for around a second and then receive a new position command.
the rows below 1 are offset .030" positive per row to form a parallelogram so position 66 x=2.030" starting position y =3.5" 132 x=2.060 y=3.0" and so on.
Position "0" zero is just that and all 3 axis return to home with "Z" retracting first.
I have gotten the InputTriggersMotion.c Running as thread 2 and works fine as it is. Could you get me started with a modified version InputWordTriggersMotion.c that functions as above. regards, Phil Loder
On Saturday, September 27, 2014 10:35 AM, "Tom Kerekes tk@... [DynoMotion]" <DynoMotion@yahoogroups.com> wrote:
Hi Phil,
Sorry I forgot you have a KSTEP that normally uses all of KFLOP JP7 and makes it difficult to use KFLOP's Serial UART on JP7.
The only things I can think of are:
#1 break out wires IO44 Pin6 and IO45 Pin7 from KFLOP JP7 to make use of the UART. These two signals will then be missing going to KSTEP. IO44 is normally configured as a PWM signal to make use of KSTEP's Analog Output. If you don't need the Analog output then you can leave this signal open. If the Analog signal is required then one of KSTEP's other PWM outputs could be wired to this pin. IO45 is normally used to control the Enable Signal to KSTEP. The Enable input on KSTEP J6 (or the original JP36 Pin7) can be connected to another 3.3V output or wired to 3.3V directly to Enable KSTEP.
#2 Use KFLOP JP5 to connect Step/Dir signals to KSTEP to completely free up KFLOP JP7. In this case +5V, GND, and Enable will need to be wired externally to KSTEP J6. The Opto IO (KSTEP JP33) will not be available.
HTH Regards TK
| Group: DynoMotion |
Message: 10243 |
From: Tom Kerekes |
Date: 10/4/2014 |
| Subject: Re: PLC control of positions |
Hi Phil,
Maybe something like the attached?
Regards TK
| Group: DynoMotion |
Message: 10244 |
From: philloder |
Date: 10/5/2014 |
| Subject: Re: PLC control of positions |
Tom, Thanks for the Help. At first I thought that none of the math worked for the word value and positions. Then I realized that in building the 9 bit word you were using the first word bit as the highest significant value not the lowest. Is there a easy correction for the word build or do I need to rewire to make my outputs match your math from the inputs? thanks, Phil |
|
| Group: DynoMotion |
Message: 10245 |
From: Tom Kerekes |
Date: 10/5/2014 |
| Subject: Re: PLC control of positions |
Hi Phil,
Try changing to read the bits in reverse order. Instead of incrementing i from 0 to 8, decrement it from 8 downto 0.
Change:
for (i=0; i<9; i++)
to
for (i=8; i>=0; i--)
Regards TK
| Group: DynoMotion |
Message: 10246 |
From: phil loder |
Date: 10/5/2014 |
| Subject: Re: PLC control of positions |
Tom, Worked like a charm !!! Thanks, Phil
On Sunday, October 5, 2014 4:30 PM, "Tom Kerekes tk@... [DynoMotion]" <DynoMotion@yahoogroups.com> wrote:
Hi Phil,
Try changing to read the bits in reverse order. Instead of incrementing i from 0 to 8, decrement it from 8 downto 0.
Change:
for (i=0; i<9; i++)
to
for (i=8; i>=0; i--)
Regards TK
| Group: DynoMotion |
Message: 10328 |
From: philloder |
Date: 10/14/2014 |
| Subject: Re: PLC control of positions |
Tom, I had to modify the program you set up for me. InputWordTriggersMotion.C as I needed to start at the bottom left and work up not the top left and work down. I actually made the changed to the code along with some spacing offset adjustments. That all works fine except that position 1 is 1 inch to the right "2 Columns" of all the rest of the row starting positions.
Also I have tried to modify the program to include the feed hold on input 1036 and nothing stops
input 1037 is supposed to run thread 3 which runs at startup to home all 3 axis and if I run 3 from the kmotion C-Program screen it works correctly. I thought I had followed your examples but am missing something.
I am going to include a jog function but it is probably not working due to what ever I have missed on the entries above. My mods are below.
#include "KMotionDef.h"
#define XAXIS 0 // define an Axis channel Number to use #define YAXIS 1 // define an Axis channel Number to use #define ZAXIS 2 // define an Axis channel Number to use
#define STEP1_COMPLETE 48 #define STEP2_COMPLETE 49
#define FIRST_WORD_BIT 1024
#define TRIGGER_STEP1 1033 // MOVE TO POSITION WORD #define TRIGGER_STEP2 1034 // MOVE TO EJECT
#define FEED_HOLD 1036 // feed hold all axis #define ZERO_ALL 1037 // ZERO ALL AXIS RUNNING THREAD 3
#define JOG_X_POS 1050 // JOG X POSITIVE #define JOG_X_NEG 1051 // JOG X NEGATIVE #define JOG_Y_POS 1052 // JOG Y POSITIVE #define JOG_Y_NEG 1053 // JOG Y NEGATIVE #define JOG_X_POS 1054 // JOG Z POSITIVE #define JOG_Z_NEG 1055 // JOG Z NEGATIVE
#define COL ((word+1)%67) // row is word modulo 66 but 0 is special #define ROW ((word+1)/67) // col is word/66 but 0 is special
#define STEPS_PER_INCH 16271.18644
//#define XPOS(word) ((1.0 + COL * 0.5 + ROW * 0.030)*STEPS_PER_INCH) #define XPOS(word) ((0.00 + COL * 0.5 + ROW * 0.10)*STEPS_PER_INCH) #define YPOS(word) ((0.60 + ROW * 0.7)*STEPS_PER_INCH) // #define YPOS(word) ((4.0 + ROW * -0.5)*STEPS_PER_INCH) #define ZPOS ((-1.00)*STEPS_PER_INCH)
// state variables for switch debouncing int t1last=0,t1lastsolid=-1,t1count=0; int t2last=0,t2lastsolid=-1,t2count=0; int t3last=0,t3lastsolid=-1,t3count=0; int t4last=0,t4lastsolid=-1,t4count=0;
main() { int i,word; KStepPresent=TRUE; // enable KSTEP input multiplexing
ClearBit(STEP1_COMPLETE); ClearBit(STEP2_COMPLETE); for (;;) // loop forever { WaitNextTimeSlice(); // Handle Step1 Input if (Debounce(ReadBit(TRIGGER_STEP1),&t1count,&t1last,&t1lastsolid) == 1) { ClearBit(STEP1_COMPLETE); ClearBit(STEP2_COMPLETE);
// build the 9 bit word word=0; for (i=8;i>=0;i--) word = word*2 + ReadBit(FIRST_WORD_BIT+i); if (word==0) // position 0 is special { Move(ZAXIS,0.0); // retract z while (!CheckDone(ZAXIS)) ; // wait for Z to finish
Move(XAXIS,0.0); // move xy home at the same time Move(YAXIS,0.0); while (!CheckDone(XAXIS) || !CheckDone(YAXIS)) ; // wait for XY to finish } else { Move(XAXIS,XPOS(word)); // move xy at the same time Move(YAXIS,YPOS(word)); while (!CheckDone(XAXIS) || !CheckDone(YAXIS)) ; // wait for XY to finish
Move(ZAXIS,ZPOS); // now Z down while (!CheckDone(ZAXIS)) ; // wait for Z to finish } SetBit(STEP1_COMPLETE); // signal to PLC Complete }
// Handle Step2 Input if (Debounce(ReadBit(TRIGGER_STEP2),&t2count,&t2last,&t2lastsolid) == 1) { ClearBit(STEP1_COMPLETE); ClearBit(STEP2_COMPLETE);
Move(ZAXIS,0.00); // retract z while (!CheckDone(ZAXIS)) ; // wait for Z to finish
Move(YAXIS,0.0); // retract y while (!CheckDone(YAXIS)) ; // wait for Y to finish
SetBit(STEP2_COMPLETE); // signal to PLC Complete } // Handle ZERO Input if (Debounce(ReadBit(ZERO_ALL),&t3count,&t3last,&t3lastsolid) == 1) { void StartThread(3); } // Handle FEED_HOLD Input if (Debounce(ReadBit(FEED_HOLD),&t4count,&t4last,&t4lastsolid) == 1) { StopCoordinatedMotion(); } else { ResumeCoordinatedMotion(); } } }
// Debounce a bit // // return 1 one time when first debounced high // return 0 one time when first debounced low // return -1 otherwise #define DBTIME 300
int Debounce(int n, int *cnt, int *last, int *lastsolid) { int v = -1; if (n == *last) // same as last time? { if (*cnt == DBTIME-1) { if (n != *lastsolid) { v = *lastsolid = n; // return debounced value } } if (*cnt < DBTIME) (*cnt)++; } else { *cnt = 0; // reset count } *last = n; return v; }
|
|
| Group: DynoMotion |
Message: 10329 |
From: Tom Kerekes |
Date: 10/15/2014 |
| Subject: Re: PLC control of positions |
Hi Phill,
I think:
#define COL ((word+1)%67) // row is word modulo 66 but 0 is special #define ROW ((word+1)/67) // col is word/66 but 0 is special
Should really be: #define COL ((word-1)%67) // row is word modulo 66 but 0 is special #define ROW ((word-1)/67) // col is word/66 but 0 is special
Regarding feedhold the code stops looping when issuing moves and waits for the moves to complete. This results in only checking for
feedhold when not doing a cycle. I made the check for feedhold into a function and call it also while waiting for moves to complete withing the cycles. I tried to add in some code to debounce your Jog switches and command Jogs. Regarding starting Thread#3 to do homing. You would need to Flash that program to be in memory in order to start it. The "save/compile/download/run" button in KMotion does a download to memory. You can't really do that from KFLOP. It is probably better to just add that Home function into this same porogam and Thread. Then you can just call it there rather than trying to run it as a separate program and Thread. See the attached. HTH Regards TK
From: "philloder@... [DynoMotion]" <DynoMotion@yahoogroups.com>
To: DynoMotion@yahoogroups.com
Sent: Tuesday, October 14, 2014 2:05 PM
Subject: Re: [DynoMotion] PLC control of
positions
Tom, I had to modify the program you set up for me. InputWordTriggersMotion.C as I needed to start at the bottom left and work up not the top left and work down. I actually made the changed to the code along with some spacing offset adjustments. That all works fine except that position 1 is 1 inch to the right "2 Columns" of all the rest of the row starting positions.
Also I have tried to modify the program to include the feed hold on input 1036 and nothing stops
input 1037 is supposed to run thread 3 which runs at startup to home all 3 axis and if I run 3 from the kmotion C-Program screen it works correctly. I thought I had followed your
examples but am missing something.
I am going to include a jog function but it is probably not working due to what ever I have missed on the entries above. My mods are below.
#include "KMotionDef.h"
#define XAXIS 0 // define an Axis channel Number to use #define YAXIS 1 // define an Axis channel Number to use #define ZAXIS 2 // define an Axis channel Number to use
#define STEP1_COMPLETE 48 #define STEP2_COMPLETE 49
#define FIRST_WORD_BIT 1024
#define TRIGGER_STEP1 1033 // MOVE TO POSITION WORD #define TRIGGER_STEP2 1034 // MOVE TO EJECT
#define FEED_HOLD 1036 // feed hold all axis #define ZERO_ALL 1037 // ZERO ALL AXIS RUNNING THREAD 3
#define JOG_X_POS 1050 // JOG X POSITIVE #define JOG_X_NEG 1051 // JOG X NEGATIVE #define JOG_Y_POS 1052 // JOG Y
POSITIVE #define JOG_Y_NEG 1053 // JOG Y NEGATIVE #define JOG_X_POS 1054 // JOG Z POSITIVE #define JOG_Z_NEG 1055 // JOG Z NEGATIVE
#define COL ((word+1)%67) // row is word modulo 66 but 0 is special #define ROW ((word+1)/67) // col is word/66 but 0 is special
#define STEPS_PER_INCH 16271.18644
//#define XPOS(word) ((1.0 + COL * 0.5 + ROW * 0.030)*STEPS_PER_INCH) #define XPOS(word) ((0.00 + COL * 0.5 + ROW * 0.10)*STEPS_PER_INCH) #define YPOS(word) ((0.60 + ROW * 0.7)*STEPS_PER_INCH) // #define YPOS(word) ((4.0 + ROW * -0.5)*STEPS_PER_INCH) #define ZPOS ((-1.00)*STEPS_PER_INCH)
// state variables for switch debouncing int t1last=0,t1lastsolid=-1,t1count=0; int t2last=0,t2lastsolid=-1,t2count=0; int t3last=0,t3lastsolid=-1,t3count=0; int t4last=0,t4lastsolid=-1,t4count=0;
main() { int i,word;
KStepPresent=TRUE; // enable KSTEP input multiplexing
ClearBit(STEP1_COMPLETE); ClearBit(STEP2_COMPLETE); for (;;) // loop forever { WaitNextTimeSlice(); // Handle Step1 Input if
(Debounce(ReadBit(TRIGGER_STEP1),&t1count,&t1last,&t1lastsolid) == 1) { ClearBit(STEP1_COMPLETE); ClearBit(STEP2_COMPLETE);
// build the 9 bit word word=0; for (i=8;i>=0;i--) word = word*2 + ReadBit(FIRST_WORD_BIT+i); if (word==0) // position 0 is
special { Move(ZAXIS,0.0); // retract z while (!CheckDone(ZAXIS)) ; // wait for Z to finish
Move(XAXIS,0.0); // move xy home at the same time Move(YAXIS,0.0); while (!CheckDone(XAXIS) || !CheckDone(YAXIS)) ; // wait for XY to finish } else { Move(XAXIS,XPOS(word)); // move xy at the same time Move(YAXIS,YPOS(word)); while (!CheckDone(XAXIS) || !CheckDone(YAXIS)) ; // wait for XY to finish
Move(ZAXIS,ZPOS); // now Z down while
(!CheckDone(ZAXIS)) ; // wait for Z to finish } SetBit(STEP1_COMPLETE); // signal to PLC Complete }
// Handle Step2 Input if (Debounce(ReadBit(TRIGGER_STEP2),&t2count,&t2last,&t2lastsolid) == 1) { ClearBit(STEP1_COMPLETE); ClearBit(STEP2_COMPLETE);
Move(ZAXIS,0.00); // retract z while (!CheckDone(ZAXIS)) ; // wait for Z to finish
Move(YAXIS,0.0); // retract y while (!CheckDone(YAXIS)) ; // wait for Y to finish
SetBit(STEP2_COMPLETE); // signal to PLC Complete } // Handle ZERO Input if (Debounce(ReadBit(ZERO_ALL),&t3count,&t3last,&t3lastsolid) == 1) { void StartThread(3); } // Handle FEED_HOLD Input if (Debounce(ReadBit(FEED_HOLD),&t4count,&t4last,&t4lastsolid) == 1)
{ StopCoordinatedMotion(); } else { ResumeCoordinatedMotion(); } } }
// Debounce a bit // // return 1 one time when first debounced high // return 0 one time when first debounced low // return -1 otherwise #define DBTIME 300
int Debounce(int n, int *cnt, int *last, int *lastsolid) { int v = -1; if (n == *last) // same as last time? { if (*cnt == DBTIME-1) { if (n != *lastsolid) { v = *lastsolid = n; // return debounced value } } if (*cnt < DBTIME) (*cnt)++; } else { *cnt = 0; // reset count } *last = n; return v; }
|
|
| Group: DynoMotion |
Message: 10331 |
From: phil loder |
Date: 10/16/2014 |
| Subject: Re: PLC control of positions |
Tom, I attached all the c programs running and flashed into memory thread 1 AYC_Kstep3Axis.c thread2 InputWordTriggersMotion_WithHome.c thread3 AYCSimpleHome3Axis.c
Thread 3 runs on powerup to home all 3 axis I added code from it to thread2 to home when "ZERO_ALL" bit is true and it works fine. I checked the changes you made to the code for defining the rows and columns and they work correctly now. the feedhold only works when jogging a axis. Jogging does not stop when button is released, it will also continue to run when a limit switch is made. When we have corrected the feedhold issue, I would like to have bit 50 turn on when the feedhold button is on and/or when feedhold in enabled by running into the limits. also toggling feedhold should allow movement away from the limit stopping motion.
On Wednesday, October 15, 2014 8:21 PM, "Tom Kerekes tk@... [DynoMotion]" <DynoMotion@yahoogroups.com> wrote:
Hi Phill,
I think:
#define COL ((word+1)%67) // row is word modulo 66 but 0 is special #define ROW ((word+1)/67) // col is word/66 but 0 is special
Should really be: #define COL ((word-1)%67) // row is word modulo 66 but 0 is special #define ROW ((word-1)/67) // col is word/66 but 0 is special
Regarding feedhold the code stops looping when issuing moves and waits for the moves to complete. This results in only checking for
feedhold when not doing a cycle. I made the check for feedhold into a function and call it also while waiting for moves to complete withing the cycles. I tried to add in some code to debounce your Jog switches and command Jogs. Regarding starting Thread#3 to do homing. You would need to Flash that program to be in memory in order to start it. The "save/compile/download/run" button in KMotion does a download to memory. You can't really do that from KFLOP. It is probably better to just add that Home function into this same porogam and Thread. Then you can just call it there rather than trying to run it as a separate program and Thread. See the attached. HTH Regards TK
From: "philloder@... [DynoMotion]" <DynoMotion@yahoogroups.com>
To: DynoMotion@yahoogroups.com
Sent: Tuesday, October 14, 2014 2:05 PM
Subject: Re: [DynoMotion] PLC control of
positions
Tom, I had to modify the program you set up for me. InputWordTriggersMotion.C as I needed to start at the bottom left and work up not the top left and work down. I actually made the changed to the code along with some spacing offset adjustments. That all works fine except that position 1 is 1 inch to the right "2 Columns" of all the rest of the row starting positions.
Also I have tried to modify the program to include the feed hold on input 1036 and nothing stops
input 1037 is supposed to run thread 3 which runs at startup to home all 3 axis and if I run 3 from the kmotion C-Program screen it works correctly. I thought I had followed your
examples but am missing something.
I am going to include a jog function but it is probably not working due to what ever I have missed on the entries above. My mods are below.
#include "KMotionDef.h"
#define XAXIS 0 // define an Axis channel Number to use #define YAXIS 1 // define an Axis channel Number to use #define ZAXIS 2 // define an Axis channel Number to use
#define STEP1_COMPLETE 48 #define STEP2_COMPLETE 49
#define FIRST_WORD_BIT 1024
#define TRIGGER_STEP1 1033 // MOVE TO POSITION WORD #define TRIGGER_STEP2 1034 // MOVE TO EJECT
#define FEED_HOLD 1036 // feed hold all axis #define ZERO_ALL 1037 // ZERO ALL AXIS RUNNING THREAD 3
#define JOG_X_POS 1050 // JOG X POSITIVE #define JOG_X_NEG 1051 // JOG X NEGATIVE #define JOG_Y_POS 1052 // JOG Y
POSITIVE #define JOG_Y_NEG 1053 // JOG Y NEGATIVE #define JOG_X_POS 1054 // JOG Z POSITIVE #define JOG_Z_NEG 1055 // JOG Z NEGATIVE
#define COL ((word+1)%67) // row is word modulo 66 but 0 is special #define ROW ((word+1)/67) // col is word/66 but 0 is special
#define STEPS_PER_INCH 16271.18644
//#define XPOS(word) ((1.0 + COL * 0.5 + ROW * 0.030)*STEPS_PER_INCH) #define XPOS(word) ((0.00 + COL * 0.5 + ROW * 0.10)*STEPS_PER_INCH) #define YPOS(word) ((0.60 + ROW * 0.7)*STEPS_PER_INCH) // #define YPOS(word) ((4.0 + ROW * -0.5)*STEPS_PER_INCH) #define ZPOS ((-1.00)*STEPS_PER_INCH)
// state variables for switch debouncing int t1last=0,t1lastsolid=-1,t1count=0; int t2last=0,t2lastsolid=-1,t2count=0; int t3last=0,t3lastsolid=-1,t3count=0; int t4last=0,t4lastsolid=-1,t4count=0;
main() { int i,word;
KStepPresent=TRUE; // enable KSTEP input multiplexing
ClearBit(STEP1_COMPLETE); ClearBit(STEP2_COMPLETE); for (;;) // loop forever { WaitNextTimeSlice(); // Handle Step1 Input if
(Debounce(ReadBit(TRIGGER_STEP1),&t1count,&t1last,&t1lastsolid) == 1) { ClearBit(STEP1_COMPLETE); ClearBit(STEP2_COMPLETE);
// build the 9 bit word word=0; for (i=8;i>=0;i--) word = word*2 + ReadBit(FIRST_WORD_BIT+i); if (word==0) // position 0 is
special { Move(ZAXIS,0.0); // retract z while (!CheckDone(ZAXIS)) ; // wait for Z to finish
Move(XAXIS,0.0); // move xy home at the same time Move(YAXIS,0.0); while (!CheckDone(XAXIS) || !CheckDone(YAXIS)) ; // wait for XY to finish } else { Move(XAXIS,XPOS(word)); // move xy at the same time Move(YAXIS,YPOS(word)); while (!CheckDone(XAXIS) || !CheckDone(YAXIS)) ; // wait for XY to finish
Move(ZAXIS,ZPOS); // now Z down while
(!CheckDone(ZAXIS)) ; // wait for Z to finish } SetBit(STEP1_COMPLETE); // signal to PLC Complete }
// Handle Step2 Input if (Debounce(ReadBit(TRIGGER_STEP2),&t2count,&t2last,&t2lastsolid) == 1) { ClearBit(STEP1_COMPLETE); ClearBit(STEP2_COMPLETE);
Move(ZAXIS,0.00); // retract z while (!CheckDone(ZAXIS)) ; // wait for Z to finish
Move(YAXIS,0.0); // retract y while (!CheckDone(YAXIS)) ; // wait for Y to finish
SetBit(STEP2_COMPLETE); // signal to PLC Complete } // Handle ZERO Input if (Debounce(ReadBit(ZERO_ALL),&t3count,&t3last,&t3lastsolid) == 1) { void StartThread(3); } // Handle FEED_HOLD Input if (Debounce(ReadBit(FEED_HOLD),&t4count,&t4last,&t4lastsolid) == 1)
{ StopCoordinatedMotion(); } else { ResumeCoordinatedMotion(); } } }
// Debounce a bit // // return 1 one time when first debounced high // return 0 one time when first debounced low // return -1 otherwise #define DBTIME 300
int Debounce(int n, int *cnt, int *last, int *lastsolid) { int v = -1; if (n == *last) // same as last time? { if (*cnt == DBTIME-1) { if (n != *lastsolid) { v = *lastsolid = n; // return debounced value } } if (*cnt < DBTIME) (*cnt)++; } else { *cnt = 0; // reset count } *last = n; return v; }
|
|
|
|
| Group: DynoMotion |
Message: 10332 |
From: Tom Kerekes |
Date: 10/16/2014 |
| Subject: Re: PLC control of positions [3 Attachments] |
Hi Phil,
I fixed a bug with the Jog buttons. I can't see why Feed hold wouldn't work with the Trigger cycles. It will not work while homing because we didn't put in the checks. Is that what you observe?
Regards TK
| Group: DynoMotion |
Message: 10333 |
From: phil loder |
Date: 10/16/2014 |
| Subject: Re: PLC control of positions |
Tom, I just tested the Jog command and it stops jogging when the button is released. It will still jog into the limit switches without stopping. the feed hold is kind of weird on triggered move. lets say we are at home 0,0,0 and we enter a position of 30. It should go to X 14.6" Y 0.6" Z -1.0" If I toggle feed hold while x is moving it stops x and y from moving then moves z from 0.0 to -1.0". I stop the PLC during a feed hold. If I dont stop the PLC the motion will continue untill z extends to -1 and then it stops.
On Thursday, October 16, 2014 12:08 PM, "Tom Kerekes tk@... [DynoMotion]" <DynoMotion@yahoogroups.com> wrote:
Hi Phil,
I fixed a bug with the Jog buttons. I can't see why Feed hold wouldn't work with the Trigger cycles. It will not work while homing because we didn't put in the checks. Is that what you observe?
Regards TK
| Group: DynoMotion |
Message: 10334 |
From: philloder |
Date: 10/16/2014 |
| Subject: Re: PLC control of positions |
i just toggled the feedhold after motion started for step 2 input and it did a complete cycle of z to zero y to zero sent step2_complete. the PLC upon seeing that input sent a trigger_step1 and x went to the next row, y went to its last position and z went to -1.0 and then stopped and sent step1_complete. normally I would stop the PLC from sending a new position request when feedhold ==1 but tried this for raw c code testing. |
|
| Group: DynoMotion |
Message: 10337 |
From: Tom Kerekes |
Date: 10/18/2014 |
| Subject: Re: PLC control of positions |
Hi Phil,
I think I fixed two things. Try the attached.
Regards TK
| Group: DynoMotion |
Message: 10338 |
From: phil loder |
Date: 10/19/2014 |
| Subject: Re: PLC control of positions |
Tom, I tried the mods and My limits are back to working. When I make a limit switch all motion stops and I have to toggle feedhold to resume. When I turn on the feedhold bit during a triggered move it stops all motion, If motion was stopped before it was complete on a axis the system seems to think that that axis has completed motion and will complete the next axis moves. x is supposed to go to 20 and feedhold stops it at 10. upon clearing feedhold x stays at 10 instead of finishing its move then z makes its move thinking x,y are in position.Crash!
I tried to modify the following to show the status of feed_Hold and it works if I toggle the input, but not if a limit switch is made.
#define FEEDHOLD_IND 50
void ServiceFeedhold(void) { int result; WaitNextTimeSlice();
result = Debounce(ReadBit(FEED_HOLD),&t4count,&t4last,&t4lastsolid);
// Handle FEED_HOLD Input if (result == 1) { StopCoordinatedMotion(); SetBit(FEEDHOLD_IND); } if (result == 0) { ResumeCoordinatedMotion(); ClearBit(FEEDHOLD_IND); } } I thought removing my SetBit/ClearBit (FEED_HOLD) and adding the following would work, I was wrong!!! But I am trying to do some on my own. What am I doing wrong in this code?
// GET STOP STATE AND TURN ON/OFF INDICATOR "FEEDHOLD_IND"
{ GetStopState();
WaitNextTimeSlice(); if (CS0_StoppingState == 4); // 4=independent motion of all related axes fully stopped
{ SetBit(FEEDHOLD_IND); } if (CS0_StoppingState == 0); //0 = not stopping { ClearBit(FEEDHOLD_IND); } }
On Saturday, October 18, 2014 8:49 PM, "Tom Kerekes tk@... [DynoMotion]" <DynoMotion@yahoogroups.com> wrote:
Hi Phil,
I think I fixed two things. Try the attached.
Regards TK
| Group: DynoMotion |
Message: 10339 |
From: Tom Kerekes |
Date: 10/19/2014 |
| Subject: Re: PLC control of positions |
H Phil,
That seems to reveal a bug in KFLOP resuming from feedhold. Please try applying this patch:
To apply this patch you must be using the latest Test Release V 4.33g
Copy to the DSP_KFLOP Directory and Flash New Version
Regarding the Feed Hold Indicator - I applaud you writing code! But the the fuction GetStopState doesn't exist. You should just be able to test CS0_StoppingState for non zero with:
if (CS0_StoppingState == 0); // 0=no feed hold in progress
{ ClearBit(FEEDHOLD_IND);} else {
ClearBit(FEEDHOLD_IND); }
Regards TK
From: "phil loder philloder@... [DynoMotion]" <DynoMotion@yahoogroups.com>
To: "DynoMotion@yahoogroups.com" <DynoMotion@yahoogroups.com>
Sent: Sunday, October 19, 2014 8:35 AM
Subject: Re: [DynoMotion] PLC control of positions
Tom, I tried the mods and My limits are back to working. When I make a limit switch all motion stops and I have to toggle feedhold to resume. When I turn on the
feedhold bit during a triggered move it stops all motion, If motion was stopped before it was complete on a axis the system seems to think that that axis has completed motion and will complete the next axis moves. x is supposed to go to 20 and feedhold stops it at 10. upon clearing feedhold x stays at 10 instead of finishing its move then z makes its move thinking x,y are in position.Crash!
I tried to modify the following to show the status of feed_Hold and it works if I toggle the input, but not if a limit switch is made.
#define FEEDHOLD_IND 50
void ServiceFeedhold(void) { int result; WaitNextTimeSlice();
result = Debounce(ReadBit(FEED_HOLD),&t4count,&t4last,&t4lastsolid);
// Handle FEED_HOLD Input if (result == 1) { StopCoordinatedMotion(); SetBit(FEEDHOLD_IND); }
if (result == 0) { ResumeCoordinatedMotion(); ClearBit(FEEDHOLD_IND); } } I thought removing my SetBit/ClearBit (FEED_HOLD) and adding the following would work, I was wrong!!! But I am trying to do some on my own. What am I doing wrong in this code?
// GET STOP STATE AND TURN ON/OFF INDICATOR "FEEDHOLD_IND"
{ GetStopState();
WaitNextTimeSlice(); if (CS0_StoppingState == 4); // 4=independent motion of all related axes fully stopped
{ SetBit(FEEDHOLD_IND); } if (CS0_StoppingState == 0); //0 = not stopping { ClearBit(FEEDHOLD_IND); } }
On Saturday, October 18, 2014 8:49 PM, "Tom Kerekes tk@... [DynoMotion]" <DynoMotion@yahoogroups.com> wrote:
Hi Phil,
I think I fixed two things. Try the attached.
Regards TK
From: "philloder@... [DynoMotion]"
<DynoMotion@yahoogroups.com>
To: DynoMotion@yahoogroups.com
Sent: Thursday, October 16, 2014 12:38 PM
Subject: Re: [DynoMotion] PLC control of positions
i just toggled the feedhold after motion started for step 2 input and it did a complete cycle of z to zero y to zero sent step2_complete. the PLC upon seeing that input sent a trigger_step1 and x went to the next row, y went to its last position and z went to -1.0 and then stopped and sent step1_complete. normally I would stop the PLC from sending a new position request when feedhold ==1 but tried this for raw c code testing.
|
|
| Group: DynoMotion |
Message: 10345 |
From: phil loder |
Date: 10/20/2014 |
| Subject: Re: PLC control of positions |
Tom, I flashed the update and included the new DSPKFLOP.out and saved the old one with a old extension. I reloaded my 2 threads and flashed them to user memory. verified the version in console as KFLOP 4.33h Build 18:42:16 Oct 19 2014 when testing the stopping of a move with feedhold, it is stopping and continuing correctly when it is a commanded move. When I tested the limit switches they did not stop the axis. I had to do the save,compile,download,run and then it worked. Its weird due to the fact that the homing routine is in the same thread and ran fine. it also uses the near limit switched that I used for testing the feedhold on limits. Both thread 1,2 are checked to run on startup. When the "Y" limit is made during a jog and it does stop, as soon as you toggle feedhold the axis moves to zero. I checked this in positive and negative directions. The Z stops and resumes correctly in negative direction, and stops in the positive direction then runs to the negative limit on resume. X axis is the same as Y and goes to zero position when it resumes from a limitswitch feedhold stop. After shutting down the system and restarting a few times there is no telling if the limit switches will stop the axis. Some time the work on power up, sometimes you have to do the save,compile,download,run button for both threads.
On Sunday, October 19, 2014 8:58 PM, "Tom Kerekes tk@... [DynoMotion]" <DynoMotion@yahoogroups.com> wrote:
H Phil,
That seems to reveal a bug in KFLOP resuming from feedhold. Please try applying this patch:
To apply this patch you must be using the latest Test Release V 4.33g
Copy to the DSP_KFLOP Directory and Flash New Version
Regarding the Feed Hold Indicator - I applaud you writing code! But the the fuction GetStopState doesn't exist. You should just be able to test CS0_StoppingState for non zero with:
if (CS0_StoppingState == 0); // 0=no feed hold in progress
{ ClearBit(FEEDHOLD_IND);} else {
ClearBit(FEEDHOLD_IND); }
Regards TK
From: "phil loder philloder@... [DynoMotion]"
<DynoMotion@yahoogroups.com>
To: "DynoMotion@yahoogroups.com" <DynoMotion@yahoogroups.com>
Sent: Sunday, October 19, 2014 8:35 AM
Subject: Re: [DynoMotion] PLC control of positions
Tom, I tried the mods and My limits are back to working. When I make a limit switch all motion stops and I have to toggle feedhold to resume. When I turn on the
feedhold bit during a triggered move it stops all motion, If motion was stopped before it was complete on a axis the system seems to think that that axis has completed motion and will complete the next axis moves. x is supposed to go to 20 and feedhold stops it at 10. upon clearing feedhold x stays at 10 instead of finishing its move then z makes its move thinking x,y are in position.Crash!
I tried to modify the following to show the status of feed_Hold and it works if I toggle the input, but not if a limit switch is made.
#define FEEDHOLD_IND 50
void ServiceFeedhold(void) { int result; WaitNextTimeSlice();
result = Debounce(ReadBit(FEED_HOLD),&t4count,&t4last,&t4lastsolid);
// Handle FEED_HOLD Input if (result == 1) { StopCoordinatedMotion(); SetBit(FEEDHOLD_IND); }
if (result == 0) { ResumeCoordinatedMotion(); ClearBit(FEEDHOLD_IND); } } I thought removing my SetBit/ClearBit (FEED_HOLD) and adding the following would work, I was wrong!!! But I am trying to do some on my own. What am I doing wrong in this code?
// GET STOP STATE AND TURN ON/OFF INDICATOR "FEEDHOLD_IND"
{ GetStopState();
WaitNextTimeSlice(); if (CS0_StoppingState == 4); // 4=independent motion of all related axes fully stopped
{ SetBit(FEEDHOLD_IND); } if (CS0_StoppingState == 0); //0 = not stopping { ClearBit(FEEDHOLD_IND); } }
On Saturday, October 18, 2014 8:49 PM, "Tom Kerekes tk@... [DynoMotion]" <DynoMotion@yahoogroups.com> wrote:
Hi Phil,
I think I fixed two things. Try the attached.
Regards TK
From: "philloder@... [DynoMotion]"
<DynoMotion@yahoogroups.com>
To: DynoMotion@yahoogroups.com
Sent: Thursday, October 16, 2014 12:38 PM
Subject: Re: [DynoMotion] PLC control of positions
i just toggled the feedhold after motion started for step 2 input and it did a complete cycle of z to zero y to zero sent step2_complete. the PLC upon seeing that input sent a trigger_step1 and x went to the next row, y went to its last position and z went to -1.0 and then stopped and sent step1_complete. normally I would stop the PLC from sending a new position request when feedhold ==1 but tried this for raw c code testing.
|
|
| Group: DynoMotion |
Message: 10346 |
From: phil loder |
Date: 10/20/2014 |
| Subject: Re: PLC control of positions |
Tom, I also need help on my programming research. When using the console and clicking help, it shows GetStopState in the command list and I can use it in the console to verify my state of zero when all is normal and 4 when I use a limit to cause a feedhold condition. how do I know what is a usable command for programming? Is this the wrong list for programming
commands?
On Monday, October 20, 2014 10:32 AM, "phil loder philloder@... [DynoMotion]" <DynoMotion@yahoogroups.com> wrote:
Tom, I flashed the update and included the new DSPKFLOP.out and saved the old one with a old extension. I reloaded my 2 threads and flashed them to user memory. verified the version
in console as KFLOP 4.33h Build 18:42:16 Oct 19 2014 when testing the stopping of a move with feedhold, it is stopping and continuing correctly when it is a commanded move. When I tested the limit switches they did not stop the axis. I had to do the save,compile,download,run and then it worked. Its weird due to the fact that the homing routine is in the same thread and ran fine. it also uses the near limit switched that I
used for testing the feedhold on limits. Both thread 1,2 are checked to run on startup. When the "Y" limit is made during a jog and it does stop, as soon as you toggle feedhold the axis moves to zero. I checked this in positive and negative directions. The Z stops and resumes correctly in negative direction, and stops in the positive direction then runs to the negative limit on resume. X axis is the same as Y and goes to zero position when it resumes from a limitswitch feedhold stop. After shutting down the system and restarting a few times there is no telling if the limit switches will stop the axis. Some time the work on power up, sometimes you have to do the save,compile,download,run button for both threads.
On Sunday, October 19, 2014 8:58 PM, "Tom Kerekes tk@... [DynoMotion]" <DynoMotion@yahoogroups.com> wrote:
H Phil,
That seems
to reveal a bug in KFLOP resuming from feedhold. Please try applying this patch:
To apply this patch you must be using the latest Test Release V 4.33g
Copy to the DSP_KFLOP Directory and Flash New Version
Regarding the Feed Hold Indicator - I applaud you writing code! But the the fuction GetStopState doesn't exist. You should just be able to test CS0_StoppingState for non zero with:
if (CS0_StoppingState == 0); // 0=no feed hold in progress
{ ClearBit(FEEDHOLD_IND);} else {
ClearBit(FEEDHOLD_IND); }
Regards TK
From: "phil loder philloder@... [DynoMotion]"
<DynoMotion@yahoogroups.com>
To: "DynoMotion@yahoogroups.com" <DynoMotion@yahoogroups.com>
Sent: Sunday, October 19, 2014 8:35 AM
Subject: Re: [DynoMotion] PLC control of positions
Tom, I tried the mods and My limits are back to working. When I make a limit switch all motion stops and I have to toggle feedhold to resume. When I turn on the
feedhold bit during a triggered move it stops all motion, If motion was stopped before it was complete on a axis the system seems to think that that axis has completed motion and will complete the next axis moves. x is supposed to go to 20 and feedhold stops it at 10. upon clearing feedhold x stays at 10 instead of finishing its move then z makes its move thinking x,y are in position.Crash!
I tried to modify the following to show the status of feed_Hold and it works if I toggle the input, but not if a limit switch is made.
#define FEEDHOLD_IND 50
void ServiceFeedhold(void) { int result; WaitNextTimeSlice();
result = Debounce(ReadBit(FEED_HOLD),&t4count,&t4last,&t4lastsolid);
// Handle FEED_HOLD Input if (result == 1) { StopCoordinatedMotion(); SetBit(FEEDHOLD_IND); }
if (result == 0) { ResumeCoordinatedMotion(); ClearBit(FEEDHOLD_IND); } } I thought removing my SetBit/ClearBit (FEED_HOLD) and adding the following would work, I was wrong!!! But I am trying to do some on my own. What am I doing wrong in this code?
// GET STOP STATE AND TURN ON/OFF INDICATOR "FEEDHOLD_IND"
{ GetStopState();
WaitNextTimeSlice(); if (CS0_StoppingState == 4); // 4=independent motion of all related axes fully stopped
{ SetBit(FEEDHOLD_IND); } if (CS0_StoppingState == 0); //0 = not stopping { ClearBit(FEEDHOLD_IND); } }
On Saturday, October 18, 2014 8:49 PM, "Tom Kerekes tk@...
[DynoMotion]" <DynoMotion@yahoogroups.com> wrote:
Hi Phil,
I think I fixed two things. Try the attached.
Regards TK
From: "philloder@... [DynoMotion]"
<DynoMotion@yahoogroups.com>
To: DynoMotion@yahoogroups.com
Sent: Thursday, October 16, 2014 12:38 PM
Subject: Re: [DynoMotion] PLC control of positions
i just toggled the feedhold after motion started for step 2 input and it did a complete cycle of z to zero y to zero sent step2_complete. the PLC upon seeing that input sent a trigger_step1 and x went to the next row, y went to its last position and z went to -1.0 and then stopped and sent step1_complete. normally I would stop the PLC from sending a new position request when feedhold ==1 but tried this for raw c code testing.
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