Hi Gene, Not sure if you are asking me but below your message are three axis. The Y is step/dir to an HP_UHU DC Brushed Servo Drive. The Z is the step/dir to Bergerda AC Servo drive The A axis is a harmonic drive 4th axis AC Servo driven with step/dir to the STMBL drive (just like Andy's).
John > -----Original Message----- > From: Gene Heskett [mailto:ghesk...@shentel.net] > Sent: March-05-21 3:18 PM > To: Enhanced Machine Controller (EMC) > Subject: [Emc-users] Q for Big John Thornton re your servo tuning doc > > I'm still having tuning problems with this thing. > > Reading thru your doc it finally dawned on me that you are tuning a > velocity mode servo, while what I had cobbled up was a position mode. > > Trying to fix my hal file to work with velocity has been an even bigger > headache. > > So here I am, hat in hand, wanting to see your .hal files section showing > how its hooked up to be a velocity mode servo. > > Thanks John. > > Cheers, Gene Heskett #******************** # Axis Y #******************** [AXIS_1] TYPE = LINEAR HOME = 0.0 FERROR = 0.05 MIN_FERROR = 0.01 MAX_VELOCITY = 2.5 MAX_ACCELERATION = 15 # 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 = 3.0 STEPGEN_MAXACCEL = 30 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 = 1000 DIRHOLD = 1000 STEPLEN = 1000 STEPSPACE = 1000 STEP_SCALE = -20000.0 MIN_LIMIT = -0.04 MAX_LIMIT = 6.65 BACKLASH = 0.0157 HOME_OFFSET = -0.1 HOME_SEARCH_VEL = -0.8 HOME_LATCH_VEL = 0.01 HOME_FINAL_VEL = 0.2 HOME_IGNORE_LIMITS = YES HOME_VOLATILE = 1 HOME_SEQUENCE = 1 #******************** # Axis Z #******************** [AXIS_2] TYPE = LINEAR HOME = 0.0 FERROR = 0.05 MIN_FERROR = 0.01 MAX_VELOCITY = 2.5 MAX_ACCELERATION = 10 #MAX_VELOCITY = 0.4 #MAX_ACCELERATION = 2.4 # 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 = 3.0 STEPGEN_MAXACCEL = 20 #STEPGEN_MAXVEL = 0.5 #STEPGEN_MAXACCEL = 4.8 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 = 3000 DIRHOLD = 3000 STEPLEN = 3000 STEPSPACE = 3000 STEP_SCALE = -24000.0 MIN_LIMIT = -12.5 MAX_LIMIT = 0.2 BACKLASH = 0.0035 HOME_OFFSET = 0.2 HOME_SEARCH_VEL = 0.8 HOME_LATCH_VEL = 0.01 HOME_FINAL_VEL = -0.2 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = 0 HOME_SEQUENCE = 0 #******************** # Axis A #******************** [AXIS_3] TYPE = ANGULAR HOME = 0.0 FERROR = 1 MIN_FERROR = 0.25 MAX_VELOCITY = 180.0 MAX_ACCELERATION = 720.0 # 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 = 225.00 STEPGEN_MAXACCEL = 900.00 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 = 1000 DIRHOLD = 1000 STEPLEN = 1000 STEPSPACE = 1000 STEP_SCALE = 208.33333333333 MIN_LIMIT = -9999.0 MAX_LIMIT = 9999.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_FINAL_VEL = 0 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = 0 HOME_SEQUENCE = 0 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
