On Thu, 11 Jul 2013, Marshland Engineering wrote: > Date: Thu, 11 Jul 2013 12:50:49 +1200 > From: Marshland Engineering <marshl...@marshland.co.nz> > Reply-To: "Enhanced Machine Controller (EMC)" > <emc-users@lists.sourceforge.net> > To: emc-users@lists.sourceforge.net > Subject: [Emc-users] Diagnostiic GUI > > After a 'few' more hours, we have got quite a bit further with getting the > system running. > Basically we scrapped PNCConfig and started editing the files directly. > > We set all the velocities, accelerations, following errors to huge values so > the system would run and then we started tweaking the values to get to > control it. > > Basically, the Copley drives and LinuxCNC and low interia drives and no > velocity feedback don't work. The drive output is too rapid for LinuxCNC to > follow. On moving from say 0 to 40 mm, the motor basically sawtooths till > it gets to the final position.
Its entirely possible to get torque mode drives to work with LinuxCNC but: 1: Bare motors will be difficult to tune and in addition torque mode tuning needs to be done with the expected final inertial load (for FF2 setting). 2. A higher servo thread rate than 1 KHz may be required to close the velocity portion (D term) of the loop with acceptable gain/stability 3. Torque mode tuning is quite different than velocity mode tuning since you need D term for stability, typically no FF1, and enough FF2 to compensate for the load inertia 4. Make sure the Copley drive are in torque mode (this is not just using them without tachometer feedback) > > PS We now learned to use the halscope which makes measurement much easier. > > Ok So what we need to do now is trim the velocities, acc, errors etc on the > run to get the best results. The feed rate on the screen and the PID is > great but we need to get access to the balance of the INI bits. Opening > and closing LinuxCNC with each mod is just too slow. Doing it real time is > great. Can this be done ? > > Thanks Wallace > > > ------------------------------------------------------------------------------ > See everything from the browser to the database with AppDynamics > Get end-to-end visibility with application monitoring from AppDynamics > Isolate bottlenecks and diagnose root cause in seconds. > Start your free trial of AppDynamics Pro today! > http://pubads.g.doubleclick.net/gampad/clk?id=48808831&iu=/4140/ostg.clktrk > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your (")_(") signature to help him gain world domination. ------------------------------------------------------------------------------ See everything from the browser to the database with AppDynamics Get end-to-end visibility with application monitoring from AppDynamics Isolate bottlenecks and diagnose root cause in seconds. Start your free trial of AppDynamics Pro today! http://pubads.g.doubleclick.net/gampad/clk?id=48808831&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
