Hi Gene, In this reply I've pasted the 3 axis HAL information below. I realize now I'm not the john you were referring to but maybe this will help? John Dammeyer
> From: Gene Heskett [mailto:ghesk...@shentel.net] > > 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 #******************* setp pid.y.Pgain [AXIS_1]P setp pid.y.Igain [AXIS_1]I setp pid.y.Dgain [AXIS_1]D setp pid.y.bias [AXIS_1]BIAS setp pid.y.FF0 [AXIS_1]FF0 setp pid.y.FF1 [AXIS_1]FF1 setp pid.y.FF2 [AXIS_1]FF2 setp pid.y.deadband [AXIS_1]DEADBAND setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT setp pid.y.error-previous-target true #setp pid.y.maxerror .0005 net y-index-enable <=> pid.y.index-enable net y-enable => pid.y.enable net y-pos-cmd => pid.y.command #net y-vel-cmd => pid.y.command-deriv net y-pos-fb => pid.y.feedback net y-output => pid.y.output # Step Gen signals/setup setp hm2_7i92.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP setp hm2_7i92.0.stepgen.01.dirhold [AXIS_1]DIRHOLD setp hm2_7i92.0.stepgen.01.steplen [AXIS_1]STEPLEN setp hm2_7i92.0.stepgen.01.stepspace [AXIS_1]STEPSPACE setp hm2_7i92.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE setp hm2_7i92.0.stepgen.01.step_type 0 setp hm2_7i92.0.stepgen.01.control-type 1 setp hm2_7i92.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y-pos-cmd <= axis.1.motor-pos-cmd net y-vel-cmd <= axis.1.joint-vel-cmd net y-output => hm2_7i92.0.stepgen.01.velocity-cmd net y-pos-fb <= hm2_7i92.0.stepgen.01.position-fb net y-pos-fb => axis.1.motor-pos-fb net y-enable <= axis.1.amp-enable-out net y-enable => hm2_7i92.0.stepgen.01.enable net min-home-y => axis.1.home-sw-in net min-home-y => axis.1.neg-lim-sw-in net max-x-y-min-z => axis.1.pos-lim-sw-in #******************* # AXIS Z #******************* setp pid.z.Pgain [AXIS_2]P setp pid.z.Igain [AXIS_2]I setp pid.z.Dgain [AXIS_2]D setp pid.z.bias [AXIS_2]BIAS setp pid.z.FF0 [AXIS_2]FF0 setp pid.z.FF1 [AXIS_2]FF1 setp pid.z.FF2 [AXIS_2]FF2 setp pid.z.deadband [AXIS_2]DEADBAND setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT setp pid.z.error-previous-target true #setp pid.z.maxerror .0005 net z-index-enable <=> pid.z.index-enable net z-enable => pid.z.enable net z-pos-cmd => pid.z.command #net z-vel-cmd => pid.z.command-deriv net z-pos-fb => pid.z.feedback net z-output => pid.z.output # Step Gen signals/setup setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE setp hm2_7i92.0.stepgen.02.step_type 0 setp hm2_7i92.0.stepgen.02.control-type 1 setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd <= axis.2.motor-pos-cmd net z-vel-cmd <= axis.2.joint-vel-cmd net z-output => hm2_7i92.0.stepgen.02.velocity-cmd net z-pos-fb <= hm2_7i92.0.stepgen.02.position-fb net z-pos-fb => axis.2.motor-pos-fb net z-enable <= axis.2.amp-enable-out net z-enable => hm2_7i92.0.stepgen.02.enable net max-home-z => axis.2.home-sw-in net max-x-y-min-z => axis.2.neg-lim-sw-in net max-home-z => axis.2.pos-lim-sw-in #******************* # AXIS A #******************* setp pid.a.Pgain [AXIS_3]P setp pid.a.Igain [AXIS_3]I setp pid.a.Dgain [AXIS_3]D setp pid.a.bias [AXIS_3]BIAS setp pid.a.FF0 [AXIS_3]FF0 setp pid.a.FF1 [AXIS_3]FF1 setp pid.a.FF2 [AXIS_3]FF2 setp pid.a.deadband [AXIS_3]DEADBAND setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT setp pid.a.error-previous-target true #setp pid.a.maxerror .0005 net a-index-enable <=> pid.a.index-enable net a-enable => pid.a.enable net a-pos-cmd => pid.a.command #net a-vel-cmd => pid.a.command-deriv net a-pos-fb => pid.a.feedback net a-output => pid.a.output # Step Gen signals/setup setp hm2_7i92.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP setp hm2_7i92.0.stepgen.03.dirhold [AXIS_3]DIRHOLD setp hm2_7i92.0.stepgen.03.steplen [AXIS_3]STEPLEN setp hm2_7i92.0.stepgen.03.stepspace [AXIS_3]STEPSPACE setp hm2_7i92.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE setp hm2_7i92.0.stepgen.03.step_type 0 setp hm2_7i92.0.stepgen.03.control-type 1 setp hm2_7i92.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL setp hm2_7i92.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL # ---closedloop stepper signals--- net a-pos-cmd <= axis.3.motor-pos-cmd net a-vel-cmd <= axis.3.joint-vel-cmd net a-output => hm2_7i92.0.stepgen.03.velocity-cmd net a-pos-fb <= hm2_7i92.0.stepgen.03.position-fb net a-pos-fb => axis.3.motor-pos-fb net a-enable <= axis.3.amp-enable-out net a-enable => hm2_7i92.0.stepgen.03.enable _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
