Hi Florian
There are configurations, where this behaviour is expected and normal:
However, you should change your G-code to the following form, basically moving the letters into the curly brackets:
C00 N{Name} {X:X%.0f} {Y:Y%.0f} {Z:Z%.0f} {Rotation:R%.2f} {FeedRate:S%.0f} *
This will ommit the letters/words completely when an axis does
not move and/or when no (zero) feed-rate is given. In G-code a
feed-rate of 0 is illegal, therefore this is prevented by removing
the feed-rate completely. If you set your feed-rate in the driver
to 0 or by setting speed to 0% you are telling the controller "do
your own thing". There were discussions in the group where this
(or something like this) was wanted/demanded.
But: it should not do that in any of the other Motion
Control Types. If you use another one, like e.g. the recommended ModeratedConstantAcceleration,
the 0% it should instead be limited to the built-in minimal
planner feed-rate of 0.1mm/s or 6mm/min.
_Mark
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Hi Marek
It only concerns drivers/controllers with axes and strictly
speaking, only the head+nozzle X, Y, Z, C axes i.e. it does not
matter for other axes like those for separate feeder
actuation, conveyors, machine doors etc.).
You can read about the "Why" here:
https://github.com/openpnp/openpnp/wiki/Motion-Planner#motion-path-planning
_Mark
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> I set up visual homing and my machine is waaay more
consistent now. (it is honestly amazing to me lol!)
Cool! ;-)
> I have a duet controller, is there anything you'd like me to test?
At the moment, I'm just happy with you testing the overall normal
operation and keeping a critical eye open. Thanks for that!
_Mark
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> Now, what with the hardware option: On the head there are
6 motors (2xZ and 4xC).
> So it is nice to place some small motion controller on
the head and only USB+Strong_power leaded by the chain.
Agree!
> But in this case this ZC is on the driver separated from XY driver...
In this case you can still use the main controller on the head
and use step/dir lines back to X/Y with opto-couplers and drivers
on the motors. These step/dir lines are only signal lines and can
be very small.
Or even more professional: something like the Duet 3, i.e. a CAN
bus with expansion boards but still coordinated control
from the main controller on the head.
https://duet3d.dozuki.com/c/Duet_3_Mini_5
or
https://duet3d.dozuki.com/c/Duet_3_Mainboard_6HC
+
https://duet3d.dozuki.com/Wiki/Duet_3_Expansion_Hardware_Overview
Unfortunately, the Duet 3 controllers are extremely feature rich
and powerful and therefore rather large (and expensive). The 6HC
is physically huge and the Mini+ has only 5 axes, so neither one
of them is a perfect match as an OpenPnP head mounted controller.
Maybe we could one day persuade Duet3D to produce a compact OpenPnP controller ;-)
> will it not work at all, or will work but not so good as could do when every axes connected to the one driver?
Even if you have multiple independent controllers, it will
always work. It is only a matter of some optimizations that
are then not possible.
Maybe one day we can even support separated controllers by timing
them against each other using planner prediction. At
least for rotation axes this could probably be risked, because if
timing prediction turns out inaccurate or if communications lag,
the worst that can happen is that a part might be still be
rotating when the Z axis is [going] down. This may spoil one
placement/one part but hardly damage the machine.
_Mark
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Hi Yevhenii
Yes it will be simultaneous, but OpenPnP will actively wait for the controllers to complete, before the next move command will be sent. This wait i.e. the communication ping-pong makes it a bit slower. For modern USB serial this is almost nothing (typically ~6ms), for old-style low baud-rate serial it might be more, for TCP/IP it might be much more, especially on Smoothie where TCP/IP implementation is rudimentary.
> have the C axes on a separate controller, and when I need to rotate the components (without aligning to the camera), the performance drops by almost 25%.
Drop by 25% as compared to what?
First I recommend updating to the latest Testing Version.
Then use the Issues & Solutions System to help you optimize
the machine.
https://github.com/openpnp/openpnp/wiki/Issues-and-Solutions
Especially make sure your axes are individually configured for
feed-rate, acceleration [jerk] limit, according to their units.
Often the rotation axes can have much higher feed-rate and
acceleration limits (in degrees) than the linear axes (in
millimeters). Remove the driver feed-rate limit (set to zero).
https://github.com/openpnp/openpnp/wiki/Machine-Axes#kinematic-settings--axis-limits
_Mark
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Hi everybodyI discussed this with Jason (last week), he had a look at the solution but doesn't currently find the time to integrate this himself, so he is OK for me to go forward and merge it into the develop branch a.k.a. OpenPnP 2.0.Consequently, this is the last call for testing!Everybody planning to keep up with the OpenPnP 2.0 version as it evolves should now backup everything and use the testing version to confirm that her/his machine still works after the migration.If nothing bad pops up, I will be merging this next week-end.Note that the migration is designed to create a working machine that almost completely behaves as before. It is only for those who want to benefit from the many new features that more work is required. For instance: if the documentation says you need new firmware, this is only the case for the new features.Everything is linked/documented here:_MarkOn Wednesday, December 2, 2020 at 8:43:22 PM UTC+1 ma...@makr.zone wrote:Hi everybodyI've created a new pull request & OpenPnP 2.0 Testing Version. Only minor bug-fixes and cosmetics.Pull request is here.This also contains the latest changes from the develop Branch.As always, the Testing Version can be downloaded here:It seems to take a veeery long time to get built. Make sure to get the second version of today (commit e12b91a). Best wait a few hours.@Florian Chende, please test this as soon as possible with the micron driver units you have. Don't forget to revert the workaround for the bug, as discussed here:Big thanks!!This should now be the last update in the Testing Version._Mark
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> As I have understood it will be not. Simultaneous is possible within one motion cotroller only.
Just to make it absolutely clear: what Marek says is not true.
See my other response to what is true.
No offense, Marek :-)
_Mark
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Thanks Tony,
I changed the SET_GLOBAL_OFFSETS_COMMAND suggestion.
Are you sure the line is needed/wanted in HOME_COMMAND? When I remember the TinyG code correctly, the axes will already be at zero after power-up or G28.2.
If you re-home with power still
on, I don't think you want to reset the rotation axis in
general. Any reason for that?
_Mark
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IMPORTANT: The new version is still
always as fast or faster than current OpenPnP 2.0 and especially
in case of sub-drivers, much faster than OpenPnP
1.0 where simultaneous motion across drivers was definitely not
possible (because of missing separated MOVE_TO_COMPLETE_COMMAND).
Some important optimizations of the new version are still
enabled, even with multiple controllers! Most importantly the
individual axis speed control and asynchronous communication with
the controller.
> "Even if you have multiple independent controllers, it will always work. It is only a matter of some optimizations that are then not possible." ...
> So it must be something other you've had on your mind that
I thought that understood.
https://github.com/openpnp/openpnp/wiki/Motion-Planner#motion-path-planning
The "Retry" problem?
Most of the other things, you once listed should be possible now.
Pneumatic nozzles, for instance.
_Mark
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> but I can't get access to the machines working almost nonstop.
I hope this means good business! ;-)
_Mark
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> The only warning concerns the C axes and
goes something like this: "You can set limits for each axis
separately.
And that's probably the solution ;-)
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OK, there is a "heuristic" in place that when acceleration ==
2x feed-rate, the Issues & Solutions system
thinks you haven't yet tuned it. Because this is the migration
default (assuming it takes 0.5s to fully accelerate a
machine).
So if your axis has indeed exactly 0.5s acceleration
time, then either dismiss the Solution or set slightly different
values for acceleration or feed-rate on the axis.
Back to your problem:
Use Motion Planner Diagnostics to test and time the motion with and without rotation:
https://github.com/openpnp/openpnp/wiki/Motion-Planner#test-motion
Look at the Actual time in both tests. Perhaps send me a
screenshot:
_Mark
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Hi Mark,
Wow! You have done a monumental amount of work on this major upgrade! I would guess twice as much again on all the documentation.
Thank you for your enormous contribution, I for one greatly appreciate it.
There is so much to absorb it is going to take quite a while to wrap my head around it, but I really like what you have achieved. Very impressive. It broke my machine for a while today until I reverted to legacy settings where needed. All good now. Just need to run a job first and then I can afford some down time to upgrade to the various wealth of new features.
Thanks again,
Ron
Thanks, Ron
Just be sure not to miss Issues & Solutions to start optimizing or when things got broken.
https://github.com/openpnp/openpnp/wiki/Issues-and-Solutions
The system also links to the Wiki contextually (using the button).
_Mark
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Hi Shai
> 1. On my iMac latest version OSX, the tabs are highlighted weird where it's hard to see them. Not sure if this has to do with your update? See attached images.
Can't imagine how my changes could influence that.
You mean shared Z, right?
https://github.com/openpnp/openpnp/wiki/Transformed-Axes#referencecamcounterclockwiseaxis
Yes these two fields (Cam Wheel Radius/ Cam Wheel Gap) could be
removed IMHO. Again, those only add a constant offset that must
then be cancelled in the camera <-> nozzle offset Z.
But: my goal is still to have seamless migration, so maybe we'll only remove them on the GUI, but not internally.
@Jason, what do you think?
_Mark
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Hi Jack
it is hard to diagnose without machine.xml or log or further
information.
Have you just migrated?
Or have you already enabled new features? If yes, have you already used the Issues & Solutions system?
https://github.com/openpnp/openpnp/wiki/Issues-and-Solutions
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And you still got the "shakes" you descriped?
And are you absolutely sure they were not present on the old OpenPnP Version?
Need the machine.xml and log (of both OpenPnP versions) and a description of your controller and connection.
_Mark
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OpenPnP records all the logs (a 100 sessions back) here:
https://github.com/openpnp/openpnp/wiki/FAQ#where-are-configuration-and-log-files-located
Please send me the one that you think logged this.
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Hi Yevhenii
> I installed Upgrade7 yesterday. Test version.
you should now install the regular OpenPnP 2.0 version. The Advanced Motion Control szuff has finally been merged.
> But in the process of work, the rotation all the angle of rotation increases, and at the end of the board, the machine rotates the axes most of the time.
What type of controller do you have? What
firmware version? (you might have named it earlier, but sorry
can't remember who has what for all of you ;-)
There is a requirement for the G92 command to
work properly and maybe that this is not the case here (see
Point 5):
https://github.com/openpnp/openpnp/wiki/Motion-Controller-Firmwares#key-features
Smoothie needs the new firmware for this to work
correctly.
If your controller does not support it, you can
use Wrap Around or Limit to ±180° bot not both
at the same time:
https://github.com/openpnp/openpnp/wiki/Machine-Axes#controller-settings-rotational-axis
You could try to add a M400 line in front of the
G92 of your SET_GLOBAL_OFFSETS_COMMAND
.
This might help but it may also slow the machine.
_Mark
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With my newest Smoothie firmware you should be OK with Wrap Around and Limit to ±180°.
Unfortunately the attached log file only contains
the welcome info.
_Mark
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Hi Duncan
First: backup everything.
> Is there anything special to watch out for here?
The placement training feature is in test but not yet in
develop. So the corresponding settings in the machine.xml
must be removed. You will be prompted to do that on startup
(message box).
> Do I just re-install the production code with no changes to the XML files?
AFAIK, yes. I'm always starting from Eclipse/Development so I'm actually a noob when it comes to how the regular installer works.
_Mark
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