hey Gene I am tuning my chinese servos and can't connect up the tuning software so want to show it in Halscope so that I can track the following error and then adjust it in the servo drive. This is just a temporary thing. I have the feedback from the X axis encoder plugged into the Spindle encoder pins on the 7i76 as that is the only high speed encoder counter I currently have to use.
I am not sure exactly how to set this thing up. *Ideally I just want to be able to graph the encoder following error between my encoder and the commanded position that is going through the step gens. I don't want to touch the PID loop in Linux at the moment as I only have the once encoder counter and will have to remove the feedback once the tuning is done and connect up the Y axis encoder next to the 7i76 spindle encoder pins* this is my first time using Halscope (actually any sort of scope) and I am getting stuck regards Andrew On Sun, May 10, 2020 at 4:02 PM Gene Heskett <ghesk...@shentel.net> wrote: > On Saturday 09 May 2020 23:25:42 andrew beck wrote: > > > hey guys > > > > getting a bit stuck here and it is the same issue as this old email so > > I thought I would answer it and see what you guys think > > > > I have a standard Hal and ini file generated from Pncconf for a 5i25 > > and 7i76 combo. > > > > just trying to connect my encoder and graph the following error in > > Halscope. > > > > all I want to do at the moment is use Halscope to allow me to manually > > tune my servo drive parameters. (I will not be tuning inside linuxcnc > > at the moment that will have to wait until my new mesa cards come > > > > Can someone please advise what hal and ini stuff needs to be changed > > to get my feedback into halscope > > > > regards > > > > Andrew > > > > > > > > I have just connected my x axis encoder to my spindle > > For what purpose? > > > On Thu, Feb 27, 2020 at 7:01 AM Ed W <li...@wildgooses.com> wrote: > > > Hi, I've made good progress converting my little OmioCNC X6 from > > > Mach3 to LinuxCNC. I think I owe a writeup at some point, but I > > > still have a few glitches before I'm ready to do that. > > > > > > First thing which I'm worrying about is that having run pncconf, it > > > generates an output for my open loop steppers which involves a PID > > > type setup, eg here is my X axis from the ini > > PID's are optional for microstepped steppers. I have 2 lathes, one > running with and one w/o. Both work well. My 6040 is running well w/o > PID's. My GO704 has them. They are needed with servo's as thats what > drives the servo's to a null, no error position. PID are useful IF you > have feedback from glass scales or separate encoders on the motors, > basicly treating the stepper as a servo, and the better motor kits today > are moving in that direction. > > > > > > > > > > [AXIS_X] > > > MAX_VELOCITY = 100.0 > > > MAX_ACCELERATION = 750.0 > > > MIN_LIMIT = -0.01 > > > MAX_LIMIT = 355.0 > > > > > > [JOINT_0] > > > TYPE = LINEAR > > > HOME = 0.0 > > > FERROR = 1.0 > > > MIN_FERROR = 0.01 > > > MAX_VELOCITY = 100.0 > > > MAX_ACCELERATION = 750.0 > > > # The values below should be 25% larger than MAX_VELOCITY and > > > MAX_ACCELERATION > > > # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% > > > larger. > > > STEPGEN_MAXVEL = 125.00 > > > STEPGEN_MAXACCEL = 937.50 > > > P = 1000.0 > > > I = 0.0 > > > D = 0.0 > > > FF0 = 0.0 > > > FF1 = 1.0 > > > FF2 = 0.0 > > > BIAS = 0.0 > > > DEADBAND = 0.0 > > > MAX_OUTPUT = 0.0 > > > # these are in nanoseconds > > > DIRSETUP = 10000 > > > DIRHOLD = 10000 > > > STEPLEN = 5000 > > > STEPSPACE = 5000 > > > STEP_SCALE = 320.0 > > > MIN_LIMIT = -0.01 > > > MAX_LIMIT = 355.0 > > > HOME_OFFSET = -5.000000 > > > HOME_SEARCH_VEL = -33.333333 > > > HOME_LATCH_VEL = 0.500000 > > > HOME_FINAL_VEL = 33.333333 > > > HOME_USE_INDEX = NO > > > HOME_IGNORE_LIMITS = YES > > > HOME_SEQUENCE = 1 > > > > > > > > > The corresponding .hal (again by pncconf) is as follows: > > > > > > > > > #******************* > > > # AXIS X JOINT 0 > > > #******************* > > > > > > setp pid.x.Pgain [JOINT_0]P > > > setp pid.x.Igain [JOINT_0]I > > > setp pid.x.Dgain [JOINT_0]D > > > setp pid.x.bias [JOINT_0]BIAS > > > setp pid.x.FF0 [JOINT_0]FF0 > > > setp pid.x.FF1 [JOINT_0]FF1 > > > setp pid.x.FF2 [JOINT_0]FF2 > > > setp pid.x.deadband [JOINT_0]DEADBAND > > > setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT > > > setp pid.x.error-previous-target true > > > setp pid.x.maxerror .0005 > > > > > > net x-index-enable <=> pid.x.index-enable > > > net x-enable => pid.x.enable > > > net x-pos-cmd => pid.x.command > > > net x-pos-fb => pid.x.feedback > > > net x-output <= pid.x.output > > > > > > # Step Gen signals/setup > > > > > > setp hm2_5i25.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP > > > setp hm2_5i25.0.stepgen.00.dirhold [JOINT_0]DIRHOLD > > > setp hm2_5i25.0.stepgen.00.steplen [JOINT_0]STEPLEN > > > setp hm2_5i25.0.stepgen.00.stepspace [JOINT_0]STEPSPACE > > > setp hm2_5i25.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE > > > setp hm2_5i25.0.stepgen.00.step_type 0 > > > setp hm2_5i25.0.stepgen.00.control-type 1 > > > setp hm2_5i25.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL > > > setp hm2_5i25.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL > > > setp hm2_5i25.0.stepgen.00.step.invert_output true > > > setp hm2_5i25.0.stepgen.00.direction.invert_output true > > > > > > # ---closedloop stepper signals--- > > > > > > net x-pos-cmd <= joint.0.motor-pos-cmd > > > net x-vel-cmd <= joint.0.vel-cmd > > > net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd > > > net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb > > > net x-pos-fb => joint.0.motor-pos-fb > > > net x-enable <= joint.0.amp-enable-out > > > net x-enable => hm2_5i25.0.stepgen.00.enable > > > > > > # ---setup home / limit switch signals--- > > > > > > net min-home-x => joint.0.home-sw-in > > > net min-home-x => joint.0.neg-lim-sw-in > > > net x-pos-limit => joint.0.pos-lim-sw-in > > > > > > > > > What would someone experienced recommend I do here? This is a simple > > > openloop stepper machine, no feedback or position sensors. Just a > > > 6i25 to a basic breakout board, going to a chinese 556 stepper > > > driver clone and onto some small steppers on a 6040 type of machine? > > > > > > Is there any disadvantage (or advantage) to leaving all the PID and > > > closed loop stuff in here? > > > > > > > > > Thanks > > > > > > Ed W > > > > > > > > > > > > _______________________________________________ > > > Emc-users mailing list > > > Emc-users@lists.sourceforge.net > > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > Cheers, Gene Heskett > -- > "There are four boxes to be used in defense of liberty: > soap, ballot, jury, and ammo. Please use in that order." > -Ed Howdershelt (Author) > If we desire respect for the law, we must first make the law respectable. > - Louis D. Brandeis > Genes Web page <http://geneslinuxbox.net:6309/gene> > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
