Rob Jansen wrote:
> The 7i40 boards arrived today, hooked one up on my 5i20 card.
> I copied the hm2-servo config and this works - I can move my motors at
> slower speeds without any problem.
That's good. :-)
> But ... the config specifies LINEAR_UNITS = inch and INPUT_SCALE = 81920
> and with LINEAR_UNITS = mm and my 512 cpr encoder this results in 0.025
> mm/rev - which should be 2.5 mm/rev
> So I changed INPUT_SCALE to 819.2, this makes the encoder work as
> expected: with the motor not powered I can turn the motor 20 revs which
> results in 50mm displacement on screen.
Sounds good. Your encoder has 512 lines, so it produces 2048 pulses per
revolution. Your machine is metric, so INPUT_SCALE is counts/mm, which
is 2048 counts/rev / 2.5 mm/rev = 819.2 counts/mm.
You've verified that with the machine in E-stop, you can turn the
leadscrew by hand and the emc2 DRO correctly tracks the movement.
That's half the problem solved. :-)
> Somehow I can not get my motors working from this point on. Anything I
> do results in a "joint following" error. As soon as I power my motor the
> slightest push on the motor results in the error.
It's expected that with the machine *out* of E-stop, manually turning
the leadscrew should cause a following error. After all, emc2 now
thinks it's controlling the machine, and it made an un-commanded move.
So that's good too.
Now you're in the tricky world of servo tuning... This is something i
dont know much about, but i would start here:
<http://linuxcnc.org/docs/devel/EMC2_Integrator_Manual.pdf>
Specifically, section 2.2 talks about servos and servo tuning.
--
Sebastian Kuzminsky
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