[spank]

I spent the better part of this weekend getting my motors setup and tuned after sorting out my cabling issue. It appears that one of my servos isn't functioning properly. It is exactly the same spec as the two motors I have running on my X axis, but for some reason I can't find a set of parameters that give me anything close to adequate step response. Luckily, I had another motor from the same manufacturer (MCG), that I originally was going to use on the Z axis, but I decided a while back that the Z will remain stepper based. The smaller motor worked beautifully. I will start another thread regarding the seemingly bad servo, but here I really wanted to get some guidance on why I can't seem to execute Gcode commands in KmotionCNC. With my X and Y axes enabled, I can jog in KmotionCNC, but if I try to send a G0 command from the command line, nothing happens. Similarly, if I try to run a simple Gcode program, for say a rectangle, the program seems to run on the screen, but nothing happens at the machine. Again, I am still able to jog. Am I missing something on my init.c program? Here is my Init.c program. Note, that I am enabling the Z axis, even though I don't have the parameters set in the file yet.

#include "KMotionDef.h"

main()
{
	
	

			ch0->InputMode=ENCODER_MODE;
	ch0->OutputMode=DC_SERVO_MODE;
	ch0->Vel=80000;
	ch0->Accel=200000;
	ch0->Jerk=5e+006;
	ch0->P=6.4;
	ch0->I=0.01;
	ch0->D=40;
	ch0->FFAccel=0;
	ch0->FFVel=0;
	ch0->MaxI=0;
	ch0->MaxErr=100000;
	ch0->MaxOutput=1000;
	ch0->DeadBandGain=1;
	ch0->DeadBandRange=0;
	ch0->InputChan0=0;
	ch0->InputChan1=0;
	ch0->OutputChan0=8;
	ch0->OutputChan1=0;
	ch0->MasterAxis=-1;
	ch0->LimitSwitchOptions=0x100;
	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=0.002;
	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=0.00296047;
	ch0->iir[2].B1=0.00592094;
	ch0->iir[2].B2=0.00296047;
	ch0->iir[2].A1=1.84173;
	ch0->iir[2].A2=-0.853569;



	
	
	EnableAxisDest(0, 0);
	
	
	ch1->InputMode=ENCODER_MODE;
	ch1->OutputMode=DC_SERVO_MODE;
	ch1->Vel=80000;
	ch1->Accel=200000;
	ch1->Jerk=5e+006;
	ch1->P=6.4;
	ch1->I=0.01;
	ch1->D=40;
	ch1->FFAccel=0;
	ch1->FFVel=0;
	ch1->MaxI=0;
	ch1->MaxErr=100000;
	ch1->MaxOutput=1000;
	ch1->DeadBandGain=1;
	ch1->DeadBandRange=0;
	ch1->InputChan0=1;
	ch1->InputChan1=0;
	ch1->OutputChan0=9;
	ch1->OutputChan1=0;
	ch1->MasterAxis=0;
	ch1->LimitSwitchOptions=0x100;
	ch1->LimitSwitchNegBit=0;
	ch1->LimitSwitchPosBit=0;
	ch1->SoftLimitPos=1e+009;
	ch1->SoftLimitNeg=-1e+009;
	ch1->InputGain0=1;
	ch1->InputGain1=1;
	ch1->InputOffset0=0;
	ch1->InputOffset1=0;
	ch1->OutputGain=1;
	ch1->OutputOffset=0.08;
	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=1.92081;
	ch1->iir[2].A2=-0.923885;



	
	EnableAxisDest(1, 0);
		
		ch2->InputMode=ENCODER_MODE;
	ch2->OutputMode=DC_SERVO_MODE;
	ch2->Vel=80000;
	ch2->Accel=200000;
	ch2->Jerk=4e+006;
	ch2->P=7.4;
	ch2->I=0.009;
	ch2->D=40;
	ch2->FFAccel=0;
	ch2->FFVel=0;
	ch2->MaxI=3;
	ch2->MaxErr=1e+009;
	ch2->MaxOutput=600;
	ch2->DeadBandGain=1;
	ch2->DeadBandRange=0;
	ch2->InputChan0=2;
	ch2->InputChan1=0;
	ch2->OutputChan0=11;
	ch2->OutputChan1=0;
	ch2->MasterAxis=-1;
	ch2->LimitSwitchOptions=0x100;
	ch2->LimitSwitchNegBit=0;
	ch2->LimitSwitchPosBit=0;
	ch2->SoftLimitPos=1e+009;
	ch2->SoftLimitNeg=-1e+009;
	ch2->InputGain0=1;
	ch2->InputGain1=1;
	ch2->InputOffset0=0;
	ch2->InputOffset1=0;
	ch2->OutputGain=1;
	ch2->OutputOffset=-0.2;
	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=0.00169702;
	ch2->iir[2].B1=0.00339403;
	ch2->iir[2].B2=0.00169702;
	ch2->iir[2].A1=1.88124;
	ch2->iir[2].A2=-0.88803;
	
	

	EnableAxisDest(2, 0);

	
		

	


DefineCoordSystem(0,2,3,-1);



	return 0;
}