Dynomotion Forum

Hi Mateuse, As far I understand loop tuning will be carried out as normal for rotary encoder as it is now - no change ? Correct Having this C code running my DRO reading will show linear encoder position instead rotary ? Yes. When defining the Coordinate System define the axes for the linear encoder...

Hi Mateuse, In that case you might do a dual loop approach. 2 KFLOP Axes will be required for each motor axis. Keep the existing rotary encoder axis and create a new linear encoder position loop which causes the other axis to move. A small C Program is required to tie the two loops together. It take...

Hi Mateuse, It’s best to utilize both the rotary encoders and the linear encoders. For example there may be cases where the motors move which is observed by the rotary encoders but because of backlash or compliance the linear encoders do not observe anything. So the rotary encoders can really help t...

Regarding mechanical relays: they cannot usually be driven by LVTTL signals. What are their specifications and do they have a reverse diode across the coil? Regarding 400V ground. Is this earth ground? It doesn’t normally make sense to connect a noisy earth ground to shields of signal lines. You mig...

Hi Tim, The problem we had yesterday was 500mm was corrected by 3mm as there was 503mm in the file but then at !000mm where we had 1000mm in the file and no correction there was still an error of at least 3mm, the error never interpolated back to zero error. That makes perfect sense as the first gri...

Hi Tim, Attached is an equivalent test Geocorrection file in inches. Here is a Patch for Version 5.4.1 to allow changing MaxCorrPerIteration by a parameter in Kinematics.txt file. Copy attached Kinematics.txt file to \Kmotion5.4.1\KMotion\Data folder which sets the increment to 100 inches. 100 incre...

Hi Tim, It is possible to do a single axis type of “screw mapping” as described in the wiki here . But your method should work also. The mapping file is only supported in inches so you would need to convert all the coordinates to inches. But even so the 503/500 scaling would initially be the same. Y...

Hi ADUFF, That all seems possible. KFLOP doesn’t have hardware I2C and I2C is difficult to do in software unlike SPI. I not familiar with UART to I2C converters. Consider using our Kogna Controller which has hardware I2C. It would also likely eliminate the need for a Kanalog. This shows a simple Kog...

Cool. From your 23.6,23.6 position you might move 1 inch to the right 24.7,23.6 and check the motor angles on the KMotion Axis Screen as well as measuring the physical movement to try to determine what’s wrong. Then do similar in Y.

Including your .h file is the correct way to define the class. The problem is that DanasScara contains the term Scara and it checks for Scara first and finds it. Reverse the order of the checks to check for the more specific case DanasScara first and it should select yours. We should probably do an ...