Hi Tom
I have tried to get one axis moving today, X axis. I have connected as follows:
Step for x-axis to pin 1 JP5
Dir for x-axis to pin 2 JP5
Common Step/Dir GND to a GND point on Kflop/Kanalog.
What confuses me is that the drive have a common step/dir GND. Any GND on Kflop/Kanalog good?
Is this correct?
Will eventually have all 4 axis connected to JP5.
This is the code i have Compiled/Uploaded and Run in Kmotion. Does it look ok?
I have not changed anything exept set it to step/dir with no Input and picked output channel 12.
LVttl on Pin 1 & 2 on JP5, right?
Code:
ch0->InputMode=NO_INPUT_MODE;
ch0->OutputMode=STEP_DIR_MODE;
ch0->Vel=40000;
ch0->Accel=400000;
ch0->Jerk=4e+006;
ch0->P=0;
ch0->I=0.01;
ch0->D=0;
ch0->FFAccel=0;
ch0->FFVel=0;
ch0->MaxI=200;
ch0->MaxErr=1e+006;
ch0->MaxOutput=200;
ch0->DeadBandGain=1;
ch0->DeadBandRange=0;
ch0->InputChan0=0;
ch0->InputChan1=0;
ch0->OutputChan0=12;
ch0->OutputChan1=0;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x110;
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=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=0.000768788;
ch0->iir[2].B1=0.00153758;
ch0->iir[2].B2=0.000768788;
ch0->iir[2].A1=1.92076;
ch0->iir[2].A2=-0.923833;
EnableAxisDest(0,0);
DefineCoordSystem(0,-1,-1,-1);
Return 0;
I got some small movement from the axis when i clicked move in the step/response tab.
What should PID values be in there, should that even matter since i did the PID tuning in the drive?
Will have to check that PID values are stored correctly in the drive, it acted like PID values was reset.
What would be the next step?
I have tuned the PID in the servoconf that comes with the drive. It has gone fairly ok.
I want to test the PID tuning by jogging or running some G-code.
Do i set Acceleration, velocity and Jerk in Kmotion or in Mach3?
By the way, I may want to buy another Konnect board to get some more I/O, is it possible to purcase a cable that can connect 2 boards from you? Do you just stack them ontop of eachother to get short cables?
/Lars