I did an upgrade from version 432 to 433 and now is my machine very slow. It starts normal but slow down along the way. What is new in version 433 what makes it slow and what can I do about it.

Mach3 plugin 

 

I did an upgrade from version 432 to 433 and now is my machine very slow. It starts normal but slow down along the way. What is new in version 433 what makes it slow and what can I do about it.

Mach3 plugin 

2017-04-13 18.58.23-14588.jpg

 

this is the one

#include "KMotionDef.h"

main()

{

ch0->InputMode=ENCODER_MODE;

ch0->OutputMode=DAC_SERVO_MODE;

ch0->Vel=200000;

ch0->Accel=200000;

ch0->Jerk=2000000;

ch0->P=1.2;

ch0->I=0.0009;

ch0->D=85;

ch0->FFAccel=0;

ch0->FFVel=0;

ch0->MaxI=2000;

ch0->MaxErr=2000;

ch0->MaxOutput=2000;

ch0->DeadBandGain=1;

ch0->DeadBandRange=0;

ch0->InputChan0=0;

ch0->InputChan1=1;

ch0->OutputChan0=0;

ch0->OutputChan1=1;

ch0->MasterAxis=0;

ch0->LimitSwitchOptions=0x0;

ch0->InputGain0=-1;

ch0->InputGain1=1;

ch0->InputOffset0=0;

ch0->InputOffset1=0;

ch0->OutputGain=1;

ch0->OutputOffset=0;

ch0->SlaveGain=0;

ch0->BacklashMode=BACKLASH_OFF;

ch0->BacklashAmount=0;

ch0->BacklashRate=0;

ch0->invDistPerCycle=1;

ch0->Lead=0;

ch0->MaxFollowingError=8000;

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=0.01660940051079;

ch0->iir[2].B1=0.03321890160441;

ch0->iir[2].B2=0.01660940051079;

ch0->iir[2].A1=1.606789946556;

ch0->iir[2].A2=-0.6732289791107;

ch1->InputMode=ENCODER_MODE;

ch1->OutputMode=DAC_SERVO_MODE;

ch1->Vel=12000000;

ch1->Accel=160000;

ch1->Jerk=160000;

ch1->P=2.200000;

ch1->I=0.016000;

ch1->D=105.000000;

ch1->FFAccel=0.000000;

ch1->FFVel=0.000000;

ch1->MaxI=200.000000;

ch1->MaxErr=80000;

ch1->MaxOutput=2000.000000;

ch1->DeadBandGain=1.000000;

ch1->DeadBandRange=0.000000;

ch1->InputChan0=1;

ch1->InputChan1=2;

ch1->OutputChan0=1;

ch1->OutputChan1=3;

ch1->OutputGain=-1;

ch1->LimitSwitchOptions=0x0;

ch1->InputGain0=-1.000000;

ch1->InputGain1=1.000000;

ch1->InputOffset0=0.000000;

ch1->InputOffset1=0.000000;

ch1->invDistPerCycle=1.000000;

ch1->Lead=0.000000;

ch1->MaxFollowingError=8000;

ch1->StepperAmplitude=250.000000;

ch1->iir[0].B0=1.000000;

ch1->iir[0].B1=0.000000;

ch1->iir[0].B2=0.000000;

ch1->iir[0].A1=0.000000;

ch1->iir[0].A2=0.000000;

ch1->iir[1].B0=1.000000;

ch1->iir[1].B1=0.000000;

ch1->iir[1].B2=0.000000;

ch1->iir[1].A1=0.000000;

ch1->iir[1].A2=0.000000;

ch1->iir[2].B0=1.000000;

ch1->iir[2].B1=0.000000;

ch1->iir[2].B2=0.000000;

ch1->iir[2].A1=0.000000;

ch1->iir[2].A2=0.000000;

ch2->InputMode=ENCODER_MODE;

ch2->OutputMode=DAC_SERVO_MODE;

ch2->Vel=12000000;

ch2->Accel=160000;

ch2->Jerk=160000;

ch2->P=2.200000;

ch2->I=0.010000;

ch2->D=45.000000;

ch2->FFAccel=0.000000;

ch2->FFVel=0.000000;

ch2->MaxI=200.000000;

ch2->MaxErr=80000;

ch2->MaxOutput=2000.000000;

ch2->DeadBandGain=1.000000;

ch2->DeadBandRange=0.000000;

ch2->InputChan0=2;

ch2->InputChan1=3;

ch2->OutputChan0=2;

ch2->OutputChan1=5;

ch2->OutputGain=-1;

ch2->LimitSwitchOptions=0x0;

ch2->InputGain0=-1.000000;

ch2->InputGain1=1.000000;

ch2->InputOffset0=0.000000;

ch2->InputOffset1=0.000000;

ch2->invDistPerCycle=1.000000;

ch2->Lead=0.000000;

ch2->MaxFollowingError=8000;

ch2->StepperAmplitude=250.000000;

ch2->iir[0].B0=1.000000;

ch2->iir[0].B1=0.000000;

ch2->iir[0].B2=0.000000;

ch2->iir[0].A1=0.000000;

ch2->iir[0].A2=0.000000;

ch2->iir[1].B0=1.000000;

ch2->iir[1].B1=0.000000;

ch2->iir[1].B2=0.000000;

ch2->iir[1].A1=0.000000;

ch2->iir[1].A2=0.000000;

ch2->iir[2].B0=1.000000;

ch2->iir[2].B1=0.000000;

ch2->iir[2].B2=0.000000;

ch2->iir[2].A1=0.000000;

ch2->iir[2].A2=0.000000;

ch3->InputMode=ENCODER_MODE;

ch3->OutputMode=DAC_SERVO_MODE;

ch3->Vel=16000;

ch3->Accel=1000000;

ch3->Jerk=110000000;

ch3->P=1.75;

ch3->I=9.999999747379e-006;

ch3->D=65;

ch3->FFAccel=0;

ch3->FFVel=0;

ch3->MaxI=200;

ch3->MaxErr=2000;

ch3->MaxOutput=2000;

ch3->DeadBandGain=1;

ch3->DeadBandRange=0;

ch3->InputChan0=4;

ch3->InputChan1=4;

ch3->OutputChan0=3;

ch3->OutputChan1=7;

ch3->MasterAxis=-1;

ch3->LimitSwitchOptions=0x0;

ch3->InputGain0=-1;

ch3->InputGain1=1;

ch3->InputOffset0=0;

ch3->InputOffset1=0;

ch3->OutputGain=1;

ch3->OutputOffset=0;

ch3->SlaveGain=1;

ch3->BacklashMode=BACKLASH_OFF;

ch3->BacklashAmount=0;

ch3->BacklashRate=0;

ch3->invDistPerCycle=1;

ch3->Lead=0;

ch3->MaxFollowingError=1000000000;

ch3->StepperAmplitude=250;

ch3->iir[0].B0=1;

ch3->iir[0].B1=0;

ch3->iir[0].B2=0;

ch3->iir[0].A1=0;

ch3->iir[0].A2=0;

ch3->iir[1].B0=1;

ch3->iir[1].B1=0;

ch3->iir[1].B2=0;

ch3->iir[1].A1=0;

ch3->iir[1].A2=0;

ch3->iir[2].B0=1;

ch3->iir[2].B1=0;

ch3->iir[2].B2=0;

ch3->iir[2].A1=0;

ch3->iir[2].A2=0;

DefineCoordSystem(0,1,2,3);

EnableAxis(0);

EnableAxis(1);

EnableAxis(2);

EnableAxis(3);

Zero(0);

Zero(1);

Zero(2);

Zero(3);

for(;;)

{

WaitNextTimeSlice();

if (ReadBit(48)) // Which Z mode are we in?

{

// THC Z mode is on, remove Z from System to allow THC

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

if (ReadBit(143)) // if plasma is ON?

{

if (ReadBit(142))   //Up?

{

Delay_sec(0.1); // Delay for error filter

Jog(2,10000);           // Axis Z move UP

while (ReadBit(142)) ;

Jog(2,0);       

while (!CheckDone(2))  ;   

}

else if (ReadBit(141)) //DOWN?

{

Delay_sec(0.1); //Delay.

Jog(2,-10000);           // Axis Z move DOWN

while (ReadBit(141)) ;

Jog(2,0);       

while (!CheckDone(2))  ;   

}

}

}

else

{

// THC Z mode is off switch to normal Z mode

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

}

}

}

 

The Axis #2 and #3 Velocity, Acceleration, and Jerk are set to impractical values. 

A Velocity of 12000000 counts/s is way too high. An Acceleration of 160000 counts/s2 would take your system more than 75 sec to start/stop. The new Version slows down whenever the motion buffer becomes dangerously low without enough motion to even stop. With the buffering limited to 4 seconds the slow down is triggered.  Set the Velocity to a reasonable value. 

Jerk of 160000 is ok but somewhat low. That means the Acceleration is applied over 1sec.  This will result in very smooth motion but at the expense of throughput. 

You might also read this article:

http://www.dynomotion.com/wiki/index.php?title=Main_Page#Velocity.2C_Acceleration.2C_and_Jerk

HTH

Regards

TK

On Apr 15, 2017, at 8:05 AM, olgers.cees0@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:

 

this is the one

#include "KMotionDef.h"

main()

{

ch0->InputMode=ENCODER_MODE;

ch0->OutputMode=DAC_SERVO_MODE;

ch0->Vel=200000;

ch0->Accel=200000;

ch0->Jerk=2000000;

ch0->P=1.2;

ch0->I=0.0009;

ch0->D=85;

ch0->FFAccel=0;

ch0->FFVel=0;

ch0->MaxI=2000;

ch0->MaxErr=2000;

ch0->MaxOutput=2000;

ch0->DeadBandGain=1;

ch0->DeadBandRange=0;

ch0->InputChan0=0;

ch0->InputChan1=1;

ch0->OutputChan0=0;

ch0->OutputChan1=1;

ch0->MasterAxis=0;

ch0->LimitSwitchOptions=0x0;

ch0->InputGain0=-1;

ch0->InputGain1=1;

ch0->InputOffset0=0;

ch0->InputOffset1=0;

ch0->OutputGain=1;

ch0->OutputOffset=0;

ch0->SlaveGain=0;

ch0->BacklashMode=BACKLASH_OFF;

ch0->BacklashAmount=0;

ch0->BacklashRate=0;

ch0->invDistPerCycle=1;

ch0->Lead=0;

ch0->MaxFollowingError=8000;

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=0.01660940051079;

ch0->iir[2].B1=0.03321890160441;

ch0->iir[2].B2=0.01660940051079;

ch0->iir[2].A1=1.606789946556;

ch0->iir[2].A2=-0.6732289791107;

ch1->InputMode=ENCODER_MODE;

ch1->OutputMode=DAC_SERVO_MODE;

ch1->Vel=12000000;

ch1->Accel=160000;

ch1->Jerk=160000;

ch1->P=2.200000;

ch1->I=0.016000;

ch1->D=105.000000;

ch1->FFAccel=0.000000;

ch1->FFVel=0.000000;

ch1->MaxI=200.000000;

ch1->MaxErr=80000;

ch1->MaxOutput=2000.000000;

ch1->DeadBandGain=1.000000;

ch1->DeadBandRange=0.000000;

ch1->InputChan0=1;

ch1->InputChan1=2;

ch1->OutputChan0=1;

ch1->OutputChan1=3;

ch1->OutputGain=-1;

ch1->LimitSwitchOptions=0x0;

ch1->InputGain0=-1.000000;

ch1->InputGain1=1.000000;

ch1->InputOffset0=0.000000;

ch1->InputOffset1=0.000000;

ch1->invDistPerCycle=1.000000;

ch1->Lead=0.000000;

ch1->MaxFollowingError=8000;

ch1->StepperAmplitude=250.000000;

ch1->iir[0].B0=1.000000;

ch1->iir[0].B1=0.000000;

ch1->iir[0].B2=0.000000;

ch1->iir[0].A1=0.000000;

ch1->iir[0].A2=0.000000;

ch1->iir[1].B0=1.000000;

ch1->iir[1].B1=0.000000;

ch1->iir[1].B2=0.000000;

ch1->iir[1].A1=0.000000;

ch1->iir[1].A2=0.000000;

ch1->iir[2].B0=1.000000;

ch1->iir[2].B1=0.000000;

ch1->iir[2].B2=0.000000;

ch1->iir[2].A1=0.000000;

ch1->iir[2].A2=0.000000;

ch2->InputMode=ENCODER_MODE;

ch2->OutputMode=DAC_SERVO_MODE;

ch2->Vel=12000000;

ch2->Accel=160000;

ch2->Jerk=160000;

ch2->P=2.200000;

ch2->I=0.010000;

ch2->D=45.000000;

ch2->FFAccel=0.000000;

ch2->FFVel=0.000000;

ch2->MaxI=200.000000;

ch2->MaxErr=80000;

ch2->MaxOutput=2000.000000;

ch2->DeadBandGain=1.000000;

ch2->DeadBandRange=0.000000;

ch2->InputChan0=2;

ch2->InputChan1=3;

ch2->OutputChan0=2;

ch2->OutputChan1=5;

ch2->OutputGain=-1;

ch2->LimitSwitchOptions=0x0;

ch2->InputGain0=-1.000000;

ch2->InputGain1=1.000000;

ch2->InputOffset0=0.000000;

ch2->InputOffset1=0.000000;

ch2->invDistPerCycle=1.000000;

ch2->Lead=0.000000;

ch2->MaxFollowingError=8000;

ch2->StepperAmplitude=250.000000;

ch2->iir[0].B0=1.000000;

ch2->iir[0].B1=0.000000;

ch2->iir[0].B2=0.000000;

ch2->iir[0].A1=0.000000;

ch2->iir[0].A2=0.000000;

ch2->iir[1].B0=1.000000;

ch2->iir[1].B1=0.000000;

ch2->iir[1].B2=0.000000;

ch2->iir[1].A1=0.000000;

ch2->iir[1].A2=0.000000;

ch2->iir[2].B0=1.000000;

ch2->iir[2].B1=0.000000;

ch2->iir[2].B2=0.000000;

ch2->iir[2].A1=0.000000;

ch2->iir[2].A2=0.000000;

ch3->InputMode=ENCODER_MODE;

ch3->OutputMode=DAC_SERVO_MODE;

ch3->Vel=16000;

ch3->Accel=1000000;

ch3->Jerk=110000000;

ch3->P=1.75;

ch3->I=9.999999747379e-006;

ch3->D=65;

ch3->FFAccel=0;

ch3->FFVel=0;

ch3->MaxI=200;

ch3->MaxErr=2000;

ch3->MaxOutput=2000;

ch3->DeadBandGain=1;

ch3->DeadBandRange=0;

ch3->InputChan0=4;

ch3->InputChan1=4;

ch3->OutputChan0=3;

ch3->OutputChan1=7;

ch3->MasterAxis=-1;

ch3->LimitSwitchOptions=0x0;

ch3->InputGain0=-1;

ch3->InputGain1=1;

ch3->InputOffset0=0;

ch3->InputOffset1=0;

ch3->OutputGain=1;

ch3->OutputOffset=0;

ch3->SlaveGain=1;

ch3->BacklashMode=BACKLASH_OFF;

ch3->BacklashAmount=0;

ch3->BacklashRate=0;

ch3->invDistPerCycle=1;

ch3->Lead=0;

ch3->MaxFollowingError=1000000000;

ch3->StepperAmplitude=250;

ch3->iir[0].B0=1;

ch3->iir[0].B1=0;

ch3->iir[0].B2=0;

ch3->iir[0].A1=0;

ch3->iir[0].A2=0;

ch3->iir[1].B0=1;

ch3->iir[1].B1=0;

ch3->iir[1].B2=0;

ch3->iir[1].A1=0;

ch3->iir[1].A2=0;

ch3->iir[2].B0=1;

ch3->iir[2].B1=0;

ch3->iir[2].B2=0;

ch3->iir[2].A1=0;

ch3->iir[2].A2=0;

DefineCoordSystem(0,1,2,3);

EnableAxis(0);

EnableAxis(1);

EnableAxis(2);

EnableAxis(3);

Zero(0);

Zero(1);

Zero(2);

Zero(3);

for(;;)

{

WaitNextTimeSlice();

if (ReadBit(48)) // Which Z mode are we in?

{

// THC Z mode is on, remove Z from System to allow THC

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

if (ReadBit(143)) // if plasma is ON?

{

if (ReadBit(142))   //Up?

{

Delay_sec(0.1); // Delay for error filter

Jog(2,10000);           // Axis Z move UP

while (ReadBit(142)) ;

Jog(2,0);       

while (!CheckDone(2))  ;   

}

else if (ReadBit(141)) //DOWN?

{

Delay_sec(0.1); //Delay.

Jog(2,-10000);           // Axis Z move DOWN

while (ReadBit(141)) ;

Jog(2,0);       

while (!CheckDone(2))  ;   

}

}

}

else

{

// THC Z mode is off switch to normal Z mode

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

}

}

}

Hi Cees,

What values did you put?  Post the new Init C file for us to look at.  Did you change Jerk also? 

Did you make a big move with the Step Response Screen and verify you are achieving your max velocity?  How long it takes to accelerate and decelerate?

If your system can stop from full speed in 4 seconds then 4 seconds of buffering should be enough.

Regards

TK

 

I did change the vel and acc dramatically down but got no results, only when put in a buffer time of 30 seconds it is working again.

 4 seconds buffering is to little. What is a plausible time to buffer?

regards, Cees