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Galil / Galil DMC2140 Help
« on: September 23, 2011, 11:28:17 AM »
This is my first post here so please bear with me. I wanted to include some background information in case there was something that I did, or an assumption made that I shouldn't have.
Background
I have a fully functional 3 axis machine that is based on a Galil DMC2140 motion controller with Parker servos. It's an XYZ table that was used in a lab with a Labview front end. We received this machine so that we could retrofit it so that it could perform a DXF import and trace the drawing with a paste using an EFI dispenser. Instead of trying to implement the DXF to DMC function (which is no longer supported by Galil) I figured that something like Mach would do this in a snap.
Current Status
We had previously upgraded the computer to a Win7 machine so I had some issues using GalilTools with Mach3. After finding some threads on this issue and finding a new DLL plugg-in posted by smurph, I was able to get the PC and DMC talking.
After they were talking, I was having major issues getting any movement. After several days of randomly trying different configurations, I set the Axis Setup --> Motor Type to Servo Reverse. Now I was able to jog! However, now the motors judder while they are stopped.
Question 1: Is it normal for the servo motors to vibrate while the machine is stopped? This only happens after I've initiated a jog command and the motor comes to a stop. Note that I'm new to machine building in general so let me know if this is a dumb question. Right now, I'm assuming that it has something to do with a servo tuning parameter that Mach has modified since this machine was tuned properly when we received it.
The machine is setup with a +, - and home switch for each axis. I'm able to home XYZ if I start on the + side of the home for XY (I have home negative selected) and on the - side of Z. If I'm on the other side of home, Mach will reach the limit switch and EStop. After an EStop I can't reset the controller (using RESET button) until I power cycle the controller and move the axis off the limit using another tool to jog it.
Question 2: How can I get Mach to override the limit? I have Auto LimitOverRide selected in the settings page.
Question 3: How can I get Mach to bounce off a limit and continue to home?
I've attached 2 debug files.
GalilDebug-Startup-X+Limit.txt: This is a Mach startup with the X axis on the X+ limit switch. At startup, I can't get Mach to do anything.
GalilDebug-HomeZ-HomeY-XLimit.txt: This is a log of me jogging the Z axis south of home then successfully homing. Then jogging the Y axis to the + side of home, then successfully homing. Then homing the X axis on the - side of home and getting stuck at the - limit.
Other info, I'm actually able to load and run the "Roadrunner" gcode file successfully if I position each axis in the center of travel. I feel like I'm pretty close to getting this thing to work!
Any guidance at all would be greatly appreciated.
Thanks!
Background
I have a fully functional 3 axis machine that is based on a Galil DMC2140 motion controller with Parker servos. It's an XYZ table that was used in a lab with a Labview front end. We received this machine so that we could retrofit it so that it could perform a DXF import and trace the drawing with a paste using an EFI dispenser. Instead of trying to implement the DXF to DMC function (which is no longer supported by Galil) I figured that something like Mach would do this in a snap.
Current Status
We had previously upgraded the computer to a Win7 machine so I had some issues using GalilTools with Mach3. After finding some threads on this issue and finding a new DLL plugg-in posted by smurph, I was able to get the PC and DMC talking.
After they were talking, I was having major issues getting any movement. After several days of randomly trying different configurations, I set the Axis Setup --> Motor Type to Servo Reverse. Now I was able to jog! However, now the motors judder while they are stopped.
Question 1: Is it normal for the servo motors to vibrate while the machine is stopped? This only happens after I've initiated a jog command and the motor comes to a stop. Note that I'm new to machine building in general so let me know if this is a dumb question. Right now, I'm assuming that it has something to do with a servo tuning parameter that Mach has modified since this machine was tuned properly when we received it.
The machine is setup with a +, - and home switch for each axis. I'm able to home XYZ if I start on the + side of the home for XY (I have home negative selected) and on the - side of Z. If I'm on the other side of home, Mach will reach the limit switch and EStop. After an EStop I can't reset the controller (using RESET button) until I power cycle the controller and move the axis off the limit using another tool to jog it.
Question 2: How can I get Mach to override the limit? I have Auto LimitOverRide selected in the settings page.
Question 3: How can I get Mach to bounce off a limit and continue to home?
I've attached 2 debug files.
GalilDebug-Startup-X+Limit.txt: This is a Mach startup with the X axis on the X+ limit switch. At startup, I can't get Mach to do anything.
GalilDebug-HomeZ-HomeY-XLimit.txt: This is a log of me jogging the Z axis south of home then successfully homing. Then jogging the Y axis to the + side of home, then successfully homing. Then homing the X axis on the - side of home and getting stuck at the - limit.
Other info, I'm actually able to load and run the "Roadrunner" gcode file successfully if I position each axis in the center of travel. I feel like I'm pretty close to getting this thing to work!
Any guidance at all would be greatly appreciated.
Thanks!