[pevatech]

hello,
inside homing machine routine, and when done zero(Z,X,Y) i'm trying to reset the toolchange position by sending MDI command as follow

printf("Homing X,Y,Z is Done, Press OK to Reset ToolChanger\r\n");
MsgBox("Homing X,Y,Z is Done, Press OK to Reset ToolChanger",MB_OK|MB_ICONEXCLAMATION);
//MOVE Z UP 85mm for toolchange positioning
MDI("G01 Z85 F3000"); //Z85=85MM
during the execution and when i reach the MDI("G01 Z85 F3000"); //Z85=85mm
i'm receiving a warning : controller configuration takes longer to stop than 75% of trajectory planner look ahead time.Feed Rate will be limited
Limiting axis:Z
Time to stop 8.18 sec
lookahead 3.00sec
i increased lookahead time to 10 and same result, check attached picture and codes

[TomKerekes]

The warning has to do with the manner that the Z axis Velocity, Acceleration, and Jerk parameters are configured which I don't being provided to us.

A common mistake is to set an impossibly high velocity but not realize the velocity is unachievable, because a long enough move is never attempted to test it.

This is like a having a car that you claim can go 1000mph with an acceleration of 10mph/second. This would take 100 seconds to accelerate to 1000mph, or 100 seconds to stop from 1000mph, but then you only ever drive in a parking lot.

A similar situation can exist with Jerk.

KFLOP/Kogna expects to have more than enough buffered motion to stop from a worst case situation without limiting any speeds. So it gives a warning.

You would have to set the buffer time to 11 seconds (> 8.18/0.75) to avoid the warning. But you should not do this. Check your motion parameters instead. Most systems are capable of stopping in 1 second or less.

HTH

[pevatech]

Thank you Dear Tom, the machine away now to try some changes, but this is the initializations of the old fanuc servos

void Servo_Initialize()
{
ch0->InputMode=ENCODER_MODE;
ch0->OutputMode=DAC_SERVO_MODE;
ch0->Vel=400000;
ch0->Accel=100000;
ch0->Jerk=1e+08;
ch0->P=0.35;
ch0->I=0;
ch0->D=0;
ch0->FFAccel=0;
ch0->FFVel=0;
ch0->MaxI=4000;
ch0->MaxErr=4000;
ch0->MaxOutput=4000;
ch0->DeadBandGain=1;
ch0->DeadBandRange=0;
ch0->InputChan0=0;
ch0->InputChan1=0;
ch0->OutputChan0=0;
ch0->OutputChan1=0;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x120;
ch0->LimitSwitchNegBit=1028;
ch0->LimitSwitchPosBit=1027;
ch0->SoftLimitPos=1e+09;
ch0->SoftLimitNeg=-1e+09;
ch0->InputGain0=1;
ch0->InputGain1=1;
ch0->InputOffset0=0;
ch0->InputOffset1=0;
ch0->OutputGain=1;
ch0->OutputOffset=0;
ch0->SlaveGain=1;
ch0->BacklashMode=BACKLASH_LINEAR;
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=1;
ch0->iir[2].B1=0;
ch0->iir[2].B2=0;
ch0->iir[2].A1=0;
ch0->iir[2].A2=0;

ch1->InputMode=ENCODER_MODE;
ch1->OutputMode=DAC_SERVO_MODE;
ch1->Vel=400000;
ch1->Accel=100000;
ch1->Jerk=1e+08;
ch1->P=0.35;
ch1->I=0;
ch1->D=0;
ch1->FFAccel=0;
ch1->FFVel=0;
ch1->MaxI=4000;
ch1->MaxErr=4000;
ch1->MaxOutput=4000;
ch1->DeadBandGain=1;
ch1->DeadBandRange=0;
ch1->InputChan0=1;
ch1->InputChan1=0;
ch1->OutputChan0=1;
ch1->OutputChan1=0;
ch1->MasterAxis=-1;
ch1->LimitSwitchOptions=0x120;
ch1->LimitSwitchNegBit=1030;
ch1->LimitSwitchPosBit=1029;
ch1->SoftLimitPos=1e+09;
ch1->SoftLimitNeg=-1e+09;
ch1->InputGain0=-1;
ch1->InputGain1=1;
ch1->InputOffset0=0;
ch1->InputOffset1=0;
ch1->OutputGain=-1;
ch1->OutputOffset=0;
ch1->SlaveGain=1;
ch1->BacklashMode=BACKLASH_LINEAR;
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;

ch2->InputMode=ENCODER_MODE;
ch2->OutputMode=DAC_SERVO_MODE;
ch2->Vel=400000;
ch2->Accel=50000;
ch2->Jerk=1e+08;
ch2->P=0.35;
ch2->I=0;
ch2->D=0;
ch2->FFAccel=0;
ch2->FFVel=0;
ch2->MaxI=4000;
ch2->MaxErr=4000;
ch2->MaxOutput=4000;
ch2->DeadBandGain=1;
ch2->DeadBandRange=0;
ch2->InputChan0=2;
ch2->InputChan1=0;
ch2->OutputChan0=2;
ch2->OutputChan1=0;
ch2->MasterAxis=-1;
ch2->LimitSwitchOptions=0x120;
ch2->LimitSwitchNegBit=1031;
ch2->LimitSwitchPosBit=1032;
ch2->SoftLimitPos=1e+09;
ch2->SoftLimitNeg=-1e+09;
ch2->InputGain0=-1;
ch2->InputGain1=1;
ch2->InputOffset0=0;
ch2->InputOffset1=0;
ch2->OutputGain=-1;
ch2->OutputOffset=0;
ch2->SlaveGain=1;
ch2->BacklashMode=BACKLASH_LINEAR;
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=0.000769;
ch2->iir[2].B1=0.001538;
ch2->iir[2].B2=0.000769;
ch2->iir[2].A1=1.92076;
ch2->iir[2].A2=-0.923833;


ch3->InputMode=ENCODER_MODE;
ch3->OutputMode=DAC_SERVO_MODE;
ch3->Vel=400000;
ch3->Accel=50000;
ch3->Jerk=1e+08;
ch3->P=0.35;
ch3->I=0;
ch3->D=0;
ch3->FFAccel=0;
ch3->FFVel=0;
ch3->MaxI=4000;
ch3->MaxErr=4000;
ch3->MaxOutput=4000;
ch3->DeadBandGain=1;
ch3->DeadBandRange=0;
ch3->InputChan0=3;
ch3->InputChan1=0;
ch3->OutputChan0=3;
ch3->OutputChan1=0;
ch3->MasterAxis=-1;
ch3->LimitSwitchOptions=0x100;
ch3->LimitSwitchNegBit=0;
ch3->LimitSwitchPosBit=0;
ch3->SoftLimitPos=1e+30;
ch3->SoftLimitNeg=-1e+30;
ch3->InputGain0=-1;
ch3->InputGain1=1;
ch3->InputOffset0=0;
ch3->InputOffset1=0;
ch3->OutputGain=-1;
ch3->OutputOffset=0;
ch3->SlaveGain=1;
ch3->BacklashMode=BACKLASH_LINEAR;
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=0.000769;
ch3->iir[2].B1=0.001538;
ch3->iir[2].B2=0.000769;
ch3->iir[2].A1=1.92076;
ch3->iir[2].A2=-0.923833;




EnableAxis(0);
EnableAxis(1);
EnableAxis(2);
//EnableAxis(3);
DefineCoordSystem(0,1,2,3);
}

[TomKerekes]

ch2->Vel=400000;
ch2->Accel=50000;
ch2->Jerk=1e+08;

Here it would take 8 seconds to ramp up to a velocity of 400,000 count/sec at an acceleration of only 50,000 counts/sec? Can your system really go that fast? If so, does it really need to accelerate so slowly?

[pevatech]

Thank you TOM,
my question is,
MDI("G01 Z85 F3000");
even if i limit the Feed rate to 3000, this will not help, and i'm using the DefaultKeepOffsetsMM.set units file in the KMOTIONCNC->toolsetup
the KFLOP command execution following the KMOTIONCNC or no, so the unit F3000 is in inch? so i have to make it smaller or relatively so i divided by 1524 so F should be= 2, please clarify
thanks
Peter

[TomKerekes]

Hi Peter,

The GCode or Feed rate doesn't matter. When the GCode starts executing it checks the worst case to stop from a rapid and that you are requesting sufficient buffering to handle that.

Please answer the questions from my last post.