I've replied privately as a list of parameters without descriptions are just static on the list.
> -----Original Message----- > From: Tomaz T. [mailto:tomaz_...@hotmail.com] > Sent: February 5, 2025 11:27 PM > To: Enhanced Machine Controller (EMC) > Subject: Re: [Emc-users] Bergerda AC servo drive setup for Lcnc > > My wiring is pretty much the same, with both differential step/dir and encoder > feedback to the 7i95T. The biggest question for now is setting up the driver > parameters. For example, Pn#4 has the following options available: > > 0: position control mode; > 1: internal position/speed/torque control mode > 2: internal speed control mode; > 3: jog control mode. > 4:zero mode. > 5:Open loop operation mode. > 6:Automatic gain adjustment mode. > 7:Analog speed mode > 8:Analog torque mode > 9:Position and Analog speed mode. > 10:Position and Analog torque model. > 11: pulse speed control mode > 12: Analog zero automatic adjustment (after > connecting the upper computer system, > Setting this parameter can automatically write the zero > point of the current analog and simplify the debugging > of the analog. > 11 and 12 functions are available in V519 or later, and > the product model suffix with D also has these two > functions. > The internal position/speed/torque is determined by > the I/O port. > > For now, I'm leaving it at 0, but struggling with "huge" following error, even > with increased Pn#5 (position proportion gain) to maximum. There is also > additional big spike in following error when reaching 1000rpm on servo. > > It would really help me some advise about those drive's parameters. > > Thank you > > > > Hi Tomaz, > > I'm using 4 Bergerda's on my LinuxCNC mill. From PC to 7i92H to PMDX126 > > step/dir/enable signals to a custom level translator for differential > > signals to the driver with a fault signal for feedback. Later this evening > > I'll go down and grab all the config values. I do have some written down on > > one of the manuals but I can't find that one at the moment. > > > Here's the HAL section for the X axis: > > [AXIS_X] > > MIN_LIMIT = -0.04 > > MAX_LIMIT = 13.5 > > MAX_VELOCITY = 3.0 > > MAX_ACCELERATION = 15 > > > #******************** > > # Joint 0 > > #******************** > > [JOINT_0] > > TYPE = LINEAR > > HOME = 0.0 > > FERROR = 0.5 > > MIN_FERROR = 0.1 > > MAX_VELOCITY = 3.0 > > 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 = 3.75 > > 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 = 30000 > > DIRHOLD = 30000 > > STEPLEN = 3000 > > STEPSPACE = 3000 > > STEP_SCALE = 15000.0 > > MIN_LIMIT = -0.04 > > MAX_LIMIT = 13.5 > > # tested backlash at 4.2" from home 14MAR2020 > > BACKLASH = 0.023 > > > > 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 > > > _______________________________________________ > 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
