G code error

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katiefangffs
Posts: 14
Joined: Sat Feb 17, 2024 9:57 am

G code error

Post by katiefangffs » Mon Mar 11, 2024 3:30 pm

Hello, I've encountered an issue while running G codes that were previously functioned correctly but now consistently displaying this error message. The only modification I've made recently is to the initialization code, which sets up my stepper motors and configures each axis.

The error is:
Soft Limit Actuator -284272 Limit -13000 Y- Rapid Traverse
Soft Limits disabled for remainder of Simulation
(screenshot also attached)
I tried commenting out my soft limits codes or setting them to really large numbers but still shows the same error.

The init code:

Code: Select all

#include "KMotionDef.h"
#define TMP 10
#include "KflopToKMotionCNCFunctions.c"

// Function to read from ADC and convert to temperature
void readtemp() {
	// Access the ADC channel for Kogna ADCs
	int adc_value = Kogna_ADC_Buffer[0];

	// Use the provided macro to convert ADC value to voltage
	float voltage = KOGNA_CONVERT_ADC_TO_VOLTS(adc_value);

	// Convert voltage reading to temperature
	float temp_range = 100.0 - 0.0;
	float voltage_range = 5 - 0.0;
	float temp = ((voltage - 0.0) / voltage_range) * temp_range + 0.0;
	char s[80];

	sprintf(s, "%.2f °C\n", temp);


	DROLabel(1000, 162, s);
	// Print results
	printf("The ADC reading is %d, which corresponds to a voltage of %.2f V.\n", adc_value, voltage);
	printf("This voltage corresponds to a temperature of %.2f °C.\n", temp);
}


//function for defining origin
void HomeAxis(int axis, float jogSpeed, int originBit) {
	//disable limit switch if needed
	Jog(axis, jogSpeed); //jog until it sees the limit, jog speed TBT
	while (ReadBit(originBit) == 1); // Wait until the origin is found
	Jog(axis, 0); // Stop the axis
	while (!CheckDone(axis)); // Ensure the axis has fully stopped
	Zero(axis); // Zero the axis at the origin position

}
int main()
{
	//thread 1 initialization
	InitAux();
	AddKonnect_Aux0(0, &VirtualBits, VirtualBitsEx);
	FPGA(STEP_PULSE_LENGTH_ADD) = 63 + 0x80;
	//thread 2 axis set up

	extern int VirtualBitsEx[N_VIRTUAL_BITS_EX / 32];	// 1024 Expanded Virtual Bits (1024-2047)

	FPGA(STEP_PULSE_LENGTH_ADD) = 63 + 0x80;  // set polarity and pulse length to 4us

	//ch0=x
	ch0->InputMode = NO_INPUT_MODE;
	ch0->OutputMode = STEP_DIR_MODE;
	ch0->Vel = 40000;
	ch0->Accel = 200000;
	ch0->Jerk = 4e+006;
	ch0->P = 0;
	ch0->I = 0.01;
	ch0->D = 0;
	ch0->FFAccel = 0; //feed foward acceleration
	ch0->FFVel = 0; //feed foward velocity
	ch0->MaxI = 200;
	ch0->MaxErr = 1e+006;
	ch0->MaxOutput = 200;
	ch0->DeadBandGain = 1;
	ch0->DeadBandRange = 0;
	ch0->InputChan0 = 0;
	ch0->InputChan1 = 0;
	ch0->OutputChan0 = 8;
	ch0->OutputChan1 = 0;
	ch0->MasterAxis = -1;
	ch0->LimitSwitchOptions = 0x110;
	ch0->LimitSwitchNegBit = 1025;
	ch0->LimitSwitchPosBit = 1024;
	ch0->SoftLimitPos = 56000; //TBT
	ch0->SoftLimitNeg = -56000; //TBT
	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 = 1000000000;
	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 = 0.000769;
	ch0->iir[2].B1 = 0.001538;
	ch0->iir[2].B2 = 0.000769;
	ch0->iir[2].A1 = 1.92076;
	ch0->iir[2].A2 = -0.923833;
	EnableAxisDest(0, 0);

	//ch1=y axis
	ch1->InputMode = NO_INPUT_MODE;
	ch1->OutputMode = STEP_DIR_MODE;
	ch1->Vel = 40000;
	ch1->Accel = 200000;
	ch1->Jerk = 4e+006;
	ch1->P = 0;
	ch1->I = 0.01;
	ch1->D = 0;
	ch1->FFAccel = 0;
	ch1->FFVel = 0;
	ch1->MaxI = 200;
	ch1->MaxErr = 1e+006;
	ch1->MaxOutput = 200;
	ch1->DeadBandGain = 1;
	ch1->DeadBandRange = 0;
	ch1->InputChan0 = 0;
	ch1->InputChan1 = 0;
	ch1->OutputChan0 = 9;
	ch1->OutputChan1 = 0;
	ch1->MasterAxis = -1;
	ch1->LimitSwitchOptions = 0x110;
	ch1->LimitSwitchNegBit = 1028;
	ch1->LimitSwitchPosBit = 1027;
	ch1->SoftLimitPos = 13000; //TBT
	ch1->SoftLimitNeg = -13000; //TBT
	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 = 1000000000;
	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 = 0.000769;
	ch1->iir[2].B1 = 0.001538;
	ch1->iir[2].B2 = 0.000769;
	ch1->iir[2].A1 = 1.92076;
	ch1->iir[2].A2 = -0.923833;
	EnableAxisDest(1, 0);

	//ch2=Z' axis
	ch2->InputMode = NO_INPUT_MODE;
	ch2->OutputMode = STEP_DIR_MODE;
	ch2->Vel = 40000;
	ch2->Accel = 200000;
	ch2->Jerk = 4e+006;
	ch2->P = 0;
	ch2->I = 0.01;
	ch2->D = 0;
	ch2->FFAccel = 40;
	ch2->FFVel = 100;
	ch2->MaxI = 200;
	ch2->MaxErr = 1e+006;
	ch2->MaxOutput = 200;
	ch2->DeadBandGain = 1;
	ch2->DeadBandRange = 0;
	ch2->InputChan0 = 0;
	ch2->InputChan1 = 0;
	ch2->OutputChan0 = 10;
	ch2->OutputChan1 = 0;
	ch2->MasterAxis = -1;
	ch2->LimitSwitchOptions = 0x0;//no hardware limit
	ch2->SoftLimitPos = 1e+009; //no limit
	ch2->SoftLimitNeg = -1e+009; //no limit
	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 = 1000000000;
	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;
	EnableAxisDest(2, 0);

	//ch3=Y' axis
	ch3->InputMode = NO_INPUT_MODE;
	ch3->OutputMode = STEP_DIR_MODE;
	ch3->Vel = 40000;
	ch3->Accel = 200000;
	ch3->Jerk = 4e+006;
	ch3->P = 0;
	ch3->I = 0.01;
	ch3->D = 0;
	ch3->FFAccel = 0;
	ch3->FFVel = 0;
	ch3->MaxI = 200;
	ch3->MaxErr = 1e+006;
	ch3->MaxOutput = 200;
	ch3->DeadBandGain = 1;
	ch3->DeadBandRange = 0;
	ch3->InputChan0 = 0;
	ch3->InputChan1 = 0;
	ch3->OutputChan0 = 11;
	ch3->OutputChan1 = 0;
	ch3->MasterAxis = -1;
	ch3->LimitSwitchOptions = 0x110;
	ch3->LimitSwitchNegBit = 1036;
	ch3->LimitSwitchPosBit = 1035;
	ch3->SoftLimitPos = 47222.22222; //TBT
	ch3->SoftLimitNeg = -47222.22222; //TBT
	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 = 20;

	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;
	EnableAxisDest(3, 0);

	//ch4=Z axis
	ch4->InputMode = NO_INPUT_MODE;
	ch4->OutputMode = STEP_DIR_MODE;
	ch4->Vel = 4000;
	ch4->Accel = 40000;
	ch4->Jerk = 4e+006;
	ch4->P = 0;
	ch4->I = 0.01;
	ch4->D = 0;
	ch4->FFAccel = 0;
	ch4->FFVel = 0;
	ch4->MaxI = 200;
	ch4->MaxErr = 1e+006;
	ch4->MaxOutput = 200;
	ch4->DeadBandGain = 1;
	ch4->DeadBandRange = 0;
	ch4->InputChan0 = 4;
	ch4->InputChan1 = 0;
	ch4->OutputChan0 = 12;
	ch4->OutputChan1 = 0;
	ch4->MasterAxis = -1;
	ch4->LimitSwitchOptions = 0x110;
	ch4->LimitSwitchNegBit = 1033;
	ch4->LimitSwitchPosBit = 1032;
	ch4->SoftLimitPos = 15625; //TBT
	ch4->SoftLimitNeg = -15625; //TBT
	ch4->InputGain0 = -1;
	ch4->InputGain1 = 1;
	ch4->InputOffset0 = 0;
	ch4->InputOffset1 = 0;
	ch4->OutputGain = 1;
	ch4->OutputOffset = 0;
	ch4->SlaveGain = 1;
	ch4->BacklashMode = BACKLASH_OFF;
	ch4->BacklashAmount = 0;
	ch4->BacklashRate = 0;
	ch4->invDistPerCycle = 1;
	ch4->Lead = 0;
	ch4->MaxFollowingError = 1000000000;
	ch4->StepperAmplitude = 20;

	ch4->iir[0].B0 = 1;
	ch4->iir[0].B1 = 0;
	ch4->iir[0].B2 = 0;
	ch4->iir[0].A1 = 0;
	ch4->iir[0].A2 = 0;

	ch4->iir[1].B0 = 1;
	ch4->iir[1].B1 = 0;
	ch4->iir[1].B2 = 0;
	ch4->iir[1].A1 = 0;
	ch4->iir[1].A2 = 0;

	ch4->iir[2].B0 = 0.000769;
	ch4->iir[2].B1 = 0.001538;
	ch4->iir[2].B2 = 0.000769;
	ch4->iir[2].A1 = 1.92076;
	ch4->iir[2].A2 = -0.923833;
	EnableAxisDest(4, 0);

	//ch5=polishing tool
	ch5->InputMode = NO_INPUT_MODE;
	ch5->OutputMode = STEP_DIR_MODE;
	ch5->Vel = 40000;
	ch5->Accel = 400000;
	ch5->Jerk = 4e+06;
	ch5->P = 0;
	ch5->I = 0.01;
	ch5->D = 0;
	ch5->FFAccel = 0;
	ch5->FFVel = 0;
	ch5->MaxI = 200;
	ch5->MaxErr = 1e+06;
	ch5->MaxOutput = 200;
	ch5->DeadBandGain = 0;
	ch5->DeadBandRange = 0;
	ch5->InputChan0 = 0;
	ch5->InputChan1 = 0;
	ch5->OutputChan0 = 5;
	ch5->OutputChan1 = 0;
	ch5->MasterAxis = -1;
	ch5->LimitSwitchOptions = 0x110;
	ch5->LimitSwitchNegBit = 0; //no hardware limit
	ch5->LimitSwitchPosBit = 0;
	ch5->SoftLimitPos = 1e+09;
	ch5->SoftLimitNeg = -1e+09; //no limit
	ch5->InputGain0 = 1;
	ch5->InputGain1 = 1;
	ch5->InputOffset0 = 0;
	ch5->InputOffset1 = 0;
	ch5->OutputGain = -1;
	ch5->OutputOffset = 0;
	ch5->SlaveGain = 1;
	ch5->BacklashMode = BACKLASH_OFF;
	ch5->BacklashAmount = 0;
	ch5->BacklashRate = 0;
	ch5->invDistPerCycle = 1;
	ch5->Lead = 0;
	ch5->MaxFollowingError = 1000000000;
	ch5->StepperAmplitude = 20;

	ch5->iir[0].B0 = 1;
	ch5->iir[0].B1 = 0;
	ch5->iir[0].B2 = 0;
	ch5->iir[0].A1 = 0;
	ch5->iir[0].A2 = 0;

	ch5->iir[1].B0 = 1;
	ch5->iir[1].B1 = 0;
	ch5->iir[1].B2 = 0;
	ch5->iir[1].A1 = 0;
	ch5->iir[1].A2 = 0;

	ch5->iir[2].B0 = 0.000769;
	ch5->iir[2].B1 = 0.001538;
	ch5->iir[2].B2 = 0.000769;
	ch5->iir[2].A1 = 1.92076;
	ch5->iir[2].A2 = -0.923833;
	EnableAxisDest(5, 0);

	//definecoordinate
	DefineCoordSystem6(0, 1, 4, -1, 3, 2); // define axis chan numbers to use as x,y,z,a,b,c (set -1 to disable)

	//ENA pins, release to start moving, function: ClearBit()=low, SetBit()=high
	void SetBitDirection(56, 1);  // Set pin 56 as an output, xyzy'z' ENA
	ClearBit(56);            // Set pin 56 low ="turn off" the enable pin=motor start
	void SetBitDirection(55, 1);  // Set pin 55 as an output, polishing tool ENA
	ClearBit(55);            // Set pin 55 low ="turn off" the enable pin=motor start

	//Brake pins
	void SetBitDirection(52, 1); //Set pin 52 as an output, z brake
	SetBit(52); //"turn on" 52=high
	void SetBitDiretion(53, 1); //Set pin 53 as an output, polishing tool brake
	SetBit(53); //"turn on" 53=high


	// Home each axis to its origin
	HomeAxis(0, 6000, 1026); // Home X axis
	HomeAxis(1, 200, 1029); // Home Y axis
	HomeAxis(4, 500, 1034); // Home Z axis
	HomeAxis(3, 450, 1037); // Home Y' axis
	HomeAxis(2, 370, 1040); // Home Z' axis



	//thread 3 Temp
	double nextTime = Time_sec(); // Initialize nextTime to the current time

	while (1) { // Infinite loop to continuously read temperature
		nextTime += 2.0; //read every 2 sec
		readtemp();
		WaitUntil(nextTime);
		float OldWeight = -1, NewWeight;

		NewWeight = *(float*)&persist.UserData[150];  // get weight as a float

		if (NewWeight != OldWeight)
		{
			printf("Weight = %.2fg\n", NewWeight);
			OldWeight = NewWeight;

			char t[80];
			sprintf(t, "%.2fg \n", NewWeight);
			DROLabel(1000, 160, t);
		}

		Delay_sec(1); // Delay for 1 second

	}
	}
I'm attaching the G code I'm using as well if that helps. Thanks!
Attachments
0311cylindrical.txt
(54.76 KiB) Downloaded 11 times
1710151075516.jpg

User avatar
TomKerekes
Posts: 2604
Joined: Mon Dec 04, 2017 1:49 am

Re: G code error

Post by TomKerekes » Mon Mar 11, 2024 4:18 pm

Hi Katie,

I think you might be running the Job in inches mode where the comments show a G21 for mm mode.
Regards,

Tom Kerekes
Dynomotion, Inc.

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