just to add on here. I know people are connecting up encoder feedback to step dir control servo drive systems on here. so it has been done before. I am just having a little trouble following along.
regards Andrew On Sun, May 10, 2020 at 4:46 PM andrew beck <andrewbeck0...@gmail.com> wrote: > 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
