Drive Faults, Homing, Slaving... where to begin?
Posted: Sat Apr 17, 2021 6:57 pm
Hello all,
Component list, photos, and attachments at the bottom.
Hack woodworker here, and even more hack CNC builder. I've been building my own machine over the course of the last 5 years, and upgrading to a Centroid Acorn and Clearpath motors is the latest (5th?) iteration. Losing steps and motion underrun errors was driving me up the wall with my last setup, thus the leap forward to servos and a more robust controller. I produce topographic maps out of wood with run times up to 3 hours and thousands upon thousands of small movements, so errors would definitely accumulate over time.
Marty's current build series couldn't have come at a better time, as my build has somewhat paralleled his over the last few months. I'm using a Centroid Acorn, C86ACCP, and four Teknic CPM-SDSK-2341S-RLN. I bench tested each motor, I auto tuned the motors when hooked up to the machine, I even hung 25 lbs of weight on each side of the x Axis while tuning the Y motors to simulate half the gantry weight, per Teknic's recommendations for a gantry style router. For the first time in this machine's life it will have actual homing sensors so I don't need to eyeball it for every job, and can hopefully get this thing into a more production based lifestyle.
As of a couple days ago, the machine seemed to be doing alright when I turned things on for the first time. I got the axis moving in the right direction, calibrated the motors to move the proper distance, and so on. As I was figuring out the centroid interface, I crashed it a couple times into my homing sensors. They still function, but I do have new ones on the way. I was getting my teeth wet and was sorting out issues one by one until I noticed the X axis gantry, which is driven by the two Y motors, racking during homing cycles. It all gone downhill from there as I'm trying to sort things out.
Current issues listed below.
1) My Y axis has two motors, a primary and a slave. However, particularly during homing, they don't move in unison. When enabled, the primary motor, where the homing sensor is, will move towards the sensor as it should. The slave motor will generally move in the opposite direction. Not overly far as to cause severe racking, but enough that it is clearly noticeable. Now, why the heck aren't they moving in perfect sequence? One is slaved, right? The jumpers on the C86ACCP are all set to Y Axis slave, I've got it hooked up to the Slave terminal on the C86ACCP. When I couldn't get that to work right, I even hooked it up to the 4th motor spot, and in the Wizard I paired the 4th motor to the 2nd motor, aka, the primary Y motor. Still no luck, not moving in unison.
2) Automatic Homing Sequence should home Z, then X, then Y, per my settings. However, it does them all at the same time. It's making identifying what is faulting out particularly difficult. Any idea why the specified auto homing sequence isn't getting utilized?
3) When I do get the homing sequence to work, it now ends with a 9031 DRIVE FAULT every time. I believe it is generally coming from my slaved Y motor, but I have seen it from my X motor as well. As every home sequence ends with a drive fault, I can't even test jogging the machine anymore, because then I have to reset, rehome, get a new drive fault, and so on... Each homing sequence seems different as well. Sometimes the x axis will stop when contacting the sensor, sometimes it will provide the proper offset, etc. This is true for all the drives, except Z, which seems to behave. Note, there are no blinking fault codes for the servos, just a steady yellow light coming from them.
4) Had the epiphany that maybe something in the Teknic MSP software was affecting my operations. Low and behold, I had the Clearpath homing enabled for all of the motors, I hit disable, go back to trying a homing cycle, and now *nothing* moves. I hear some motors making a faint whine and clicks like they are thinking about moving, but then I get a 9031 DRIVE FAULT. So turning off homing in MSP has rendered my motors completely inoperative. *Frustration intensifies* Note, these are not Teknic's 'enhanced' motors, but I set them to a 6400 encoder resolution (and re-tuned them) per Marty's recommendation when I commented on one of his videos.
As things currently stand, I can't get the machine to complete a homing cycle, nevermind move consistently. My main issues seem to be not only is my homing process all screwed up (MSP vs Acorn driven, or a combination of the two fighting one another), but my slaved motor on my Y axis is not moving in unison with the primary. Any help or guidance would be appreciated. I know this post may be clear as mud and rambling, but I'll answer any follow up questions to the best of my ability.
-Kyle
Relevant Components:
Centroid Acorn, Relay Board, 24v power supply with Router Pro software
CNC4PC C86ACCP Board
4x CPM-SDSK-2341S-RLN Teknic Clearpath Motors [/https://www.teknic.com/model-info/CPM-SDSK-2341S-RLN/]
1x IPC-5 75v power supply from Teknic
POWER4-HUB power distribution hub to motors
All Teknic cables for control and power to motors
Cheapo Homing Switches Taiss 2pcs LJ12A3-4-Z/AX Inductive Proximity Sensor Detection Switch NPN NC DC 6V-36V 4mm Normally Close Proximity Switch 6-36V Approach [/
Junk E stop [/
Mini Business Desktop [/
Photos. [/
Component list, photos, and attachments at the bottom.
Hack woodworker here, and even more hack CNC builder. I've been building my own machine over the course of the last 5 years, and upgrading to a Centroid Acorn and Clearpath motors is the latest (5th?) iteration. Losing steps and motion underrun errors was driving me up the wall with my last setup, thus the leap forward to servos and a more robust controller. I produce topographic maps out of wood with run times up to 3 hours and thousands upon thousands of small movements, so errors would definitely accumulate over time.
Marty's current build series couldn't have come at a better time, as my build has somewhat paralleled his over the last few months. I'm using a Centroid Acorn, C86ACCP, and four Teknic CPM-SDSK-2341S-RLN. I bench tested each motor, I auto tuned the motors when hooked up to the machine, I even hung 25 lbs of weight on each side of the x Axis while tuning the Y motors to simulate half the gantry weight, per Teknic's recommendations for a gantry style router. For the first time in this machine's life it will have actual homing sensors so I don't need to eyeball it for every job, and can hopefully get this thing into a more production based lifestyle.
As of a couple days ago, the machine seemed to be doing alright when I turned things on for the first time. I got the axis moving in the right direction, calibrated the motors to move the proper distance, and so on. As I was figuring out the centroid interface, I crashed it a couple times into my homing sensors. They still function, but I do have new ones on the way. I was getting my teeth wet and was sorting out issues one by one until I noticed the X axis gantry, which is driven by the two Y motors, racking during homing cycles. It all gone downhill from there as I'm trying to sort things out.
Current issues listed below.
1) My Y axis has two motors, a primary and a slave. However, particularly during homing, they don't move in unison. When enabled, the primary motor, where the homing sensor is, will move towards the sensor as it should. The slave motor will generally move in the opposite direction. Not overly far as to cause severe racking, but enough that it is clearly noticeable. Now, why the heck aren't they moving in perfect sequence? One is slaved, right? The jumpers on the C86ACCP are all set to Y Axis slave, I've got it hooked up to the Slave terminal on the C86ACCP. When I couldn't get that to work right, I even hooked it up to the 4th motor spot, and in the Wizard I paired the 4th motor to the 2nd motor, aka, the primary Y motor. Still no luck, not moving in unison.
2) Automatic Homing Sequence should home Z, then X, then Y, per my settings. However, it does them all at the same time. It's making identifying what is faulting out particularly difficult. Any idea why the specified auto homing sequence isn't getting utilized?
3) When I do get the homing sequence to work, it now ends with a 9031 DRIVE FAULT every time. I believe it is generally coming from my slaved Y motor, but I have seen it from my X motor as well. As every home sequence ends with a drive fault, I can't even test jogging the machine anymore, because then I have to reset, rehome, get a new drive fault, and so on... Each homing sequence seems different as well. Sometimes the x axis will stop when contacting the sensor, sometimes it will provide the proper offset, etc. This is true for all the drives, except Z, which seems to behave. Note, there are no blinking fault codes for the servos, just a steady yellow light coming from them.
4) Had the epiphany that maybe something in the Teknic MSP software was affecting my operations. Low and behold, I had the Clearpath homing enabled for all of the motors, I hit disable, go back to trying a homing cycle, and now *nothing* moves. I hear some motors making a faint whine and clicks like they are thinking about moving, but then I get a 9031 DRIVE FAULT. So turning off homing in MSP has rendered my motors completely inoperative. *Frustration intensifies* Note, these are not Teknic's 'enhanced' motors, but I set them to a 6400 encoder resolution (and re-tuned them) per Marty's recommendation when I commented on one of his videos.
As things currently stand, I can't get the machine to complete a homing cycle, nevermind move consistently. My main issues seem to be not only is my homing process all screwed up (MSP vs Acorn driven, or a combination of the two fighting one another), but my slaved motor on my Y axis is not moving in unison with the primary. Any help or guidance would be appreciated. I know this post may be clear as mud and rambling, but I'll answer any follow up questions to the best of my ability.
-Kyle
Relevant Components:
Centroid Acorn, Relay Board, 24v power supply with Router Pro software
CNC4PC C86ACCP Board
4x CPM-SDSK-2341S-RLN Teknic Clearpath Motors [/https://www.teknic.com/model-info/CPM-SDSK-2341S-RLN/]
1x IPC-5 75v power supply from Teknic
POWER4-HUB power distribution hub to motors
All Teknic cables for control and power to motors
Cheapo Homing Switches Taiss 2pcs LJ12A3-4-Z/AX Inductive Proximity Sensor Detection Switch NPN NC DC 6V-36V 4mm Normally Close Proximity Switch 6-36V Approach [/
Junk E stop [/
Mini Business Desktop [/
Photos. [/