Re: [Emc-users] Fanuc analog drive & LinuxCNC tuning
On 09/12/2016 02:21, Peter C. Wallace wrote: > Are you sure the PWMGEN output mode is set to mode 2 ? > (you will get very weird and unstable results otherwise) > Note that changing the mode may invert the feedback so beware of runaways > I think so, will double check. We have monitored the analog output of the 7i48 with an oscilloscope: looks good, both for positive and negative values. But there is some high frequency noise that may come from the cabling. > Also since you are closing a velocity loop, you may want to > run the servo thread faster (say 2 to 8 KHz if your PC can do it) We have tested 1 kHz and 10 kHz: not much difference. Thank you for your help. Frederic. -- Developer Access Program for Intel Xeon Phi Processors Access to Intel Xeon Phi processor-based developer platforms. With one year of Intel Parallel Studio XE. Training and support from Colfax. Order your platform today.http://sdm.link/xeonphi ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Fanuc analog drive & LinuxCNC tuning
On Thu, 8 Dec 2016, Frederic RIBLE wrote:
> Date: Thu, 8 Dec 2016 22:56:02 +0100
> From: Frederic RIBLE
> Reply-To: "Enhanced Machine Controller (EMC)"
>
> To: "Enhanced Machine Controller (EMC)"
> Subject: [Emc-users] Fanuc analog drive & LinuxCNC tuning
>
> Hello
>
> At Electrolab hackerspace, we are working on the retrofit of a
> Mori-Seiki SL0 CNC lathe.
> We are are using a Mesa 6i24/7i48 combination.
> The drive is a A06B-6047-H208 (double velocity control unit).
> Axis motors are A06B-0641-B011 and A06B-0642-B011 (yellow cap).
> The position feedback comes from a 2000ppr encoder.
> We use the Mesa board to convert the pulses to an analog feedback
> velocity signal.
> We have done the HAL cabling as below.
> First results are promising : we can control the position.
> But we see some oscillations on the velocity (periodic with 33 ms period).
> Oscillations start when the position command changes, and never stop,
> even when the pos-cmd becomes constant.
> Same issue if we disable the PID loop in HAL.
> So we believe the problem is coming from the drive.
> When we decrease the analog gain in the drive after the error amplifier
> (comparison between velocity command and feedback), we can decrease the
> oscillation.
> As we can see a phase compensation circuit in the drive, we assume this
> is to compensate for delay on velocity feedback.
> So, we have tried to add some delay on the velocity feedback assuming
> original F/V converter from the Fanuc control board may be slower than
> what we have with Mesa. Not much success: that changes a little the
> oscillation period, but we cannot cancel oscillation.
>
> Anyone knows how we can tune the drive (unfortunately we have not the
> documentation for this part number) ?
>
> Thanks
> Frederic.
>
Are you sure the PWMGEN output mode is set to mode 2 ?
(you will get very weird and unstable results otherwise)
Note that changing the mode may invert the feedback so beware of runaways
Also since you are closing a velocity loop, you may want to
run the servo thread faster (say 2 to 8 KHz if your PC can do it)
>
> https://forum.linuxcnc.org/media/kunena/attachments/16648/Mauriceservo.jpg
>
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Peter Wallace
Mesa Electronics
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[Emc-users] Fanuc analog drive & LinuxCNC tuning
Hello At Electrolab hackerspace, we are working on the retrofit of a Mori-Seiki SL0 CNC lathe. We are are using a Mesa 6i24/7i48 combination. The drive is a A06B-6047-H208 (double velocity control unit). Axis motors are A06B-0641-B011 and A06B-0642-B011 (yellow cap). The position feedback comes from a 2000ppr encoder. We use the Mesa board to convert the pulses to an analog feedback velocity signal. We have done the HAL cabling as below. First results are promising : we can control the position. But we see some oscillations on the velocity (periodic with 33 ms period). Oscillations start when the position command changes, and never stop, even when the pos-cmd becomes constant. Same issue if we disable the PID loop in HAL. So we believe the problem is coming from the drive. When we decrease the analog gain in the drive after the error amplifier (comparison between velocity command and feedback), we can decrease the oscillation. As we can see a phase compensation circuit in the drive, we assume this is to compensate for delay on velocity feedback. So, we have tried to add some delay on the velocity feedback assuming original F/V converter from the Fanuc control board may be slower than what we have with Mesa. Not much success: that changes a little the oscillation period, but we cannot cancel oscillation. Anyone knows how we can tune the drive (unfortunately we have not the documentation for this part number) ? Thanks Frederic. https://forum.linuxcnc.org/media/kunena/attachments/16648/Mauriceservo.jpg -- Developer Access Program for Intel Xeon Phi Processors Access to Intel Xeon Phi processor-based developer platforms. With one year of Intel Parallel Studio XE. Training and support from Colfax. Order your platform today.http://sdm.link/xeonphi ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] [Emc-developers] Spindle speed signal
On Thu, 8 Dec 2016, andy pugh wrote:
Date: Thu, 8 Dec 2016 18:19:53 +
From: andy pugh
Reply-To: "Enhanced Machine Controller (EMC)"
To: EMC developers
Cc: "Enhanced Machine Controller (EMC)"
Subject: Re: [Emc-users] [Emc-developers] Spindle speed signal
On 8 December 2016 at 18:10, Robert Ellenberg wrote:
Does anyone use a spindle encoder with only position output? In other
words, encoder position linked to motion.spindle-revs, but no input to
motion.spindle-speed-in?
I would imagine that it might be uncommon, but not unknown. For
example a serial encoder might not have velocity data.
I think thats true with the HM2 SSI BISS and FANUC encoders
Not sure if its possible but you might consider doing something
like the PID component which detects if pid.N.feedback-deriv
is connected and calculates a local d/dt velocity if not
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Re: [Emc-users] [Emc-developers] Spindle speed signal
On 8 December 2016 at 18:10, Robert Ellenberg wrote: > Does anyone use a spindle encoder with only position output? In other > words, encoder position linked to motion.spindle-revs, but no input to > motion.spindle-speed-in? I would imagine that it might be uncommon, but not unknown. For example a serial encoder might not have velocity data. -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 -- Developer Access Program for Intel Xeon Phi Processors Access to Intel Xeon Phi processor-based developer platforms. With one year of Intel Parallel Studio XE. Training and support from Colfax. Order your platform today.http://sdm.link/xeonphi ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] Spindle speed signal
Hi All, Does anyone use a spindle encoder with only position output? In other words, encoder position linked to motion.spindle-revs, but no input to motion.spindle-speed-in? I ask because I'm working on a tweak to spindle synchronization, and I'd like to use the spindle speed input as part of the position tracking loop. However, this would require that pins have a valid signal for threading / spindle position tracking. If the only-position case is common, then I would make the use of spindle-speed-in controllable by an IN setting. Thanks! Rob -- Developer Access Program for Intel Xeon Phi Processors Access to Intel Xeon Phi processor-based developer platforms. With one year of Intel Parallel Studio XE. Training and support from Colfax. Order your platform today.http://sdm.link/xeonphi ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Red Cap Fanuc amp part number
On Thu, 8 Dec 2016, Steve from Tube Gauge wrote:
> Date: Thu, 08 Dec 2016 12:45:45 -0500
> From: "[utf-8] Steve from Tube Gauge"
> Reply-To: "Enhanced Machine Controller (EMC)"
>
> To: emc-users@lists.sourceforge.net
> Subject: [Emc-users] Red Cap Fanuc amp part number
>
> I found a part number on the printed circuit board that has all 3 axis on it.
> Under the PCB are the amps for each motor. Is this the correct number to
> identify if the amps are "easily retrofitted" to EMC2: A16B-1000-0280/06A ?
Steve V
I think so (I think thats a Anlaog servo drive PCB part number)
but the A06B- number is really whats required
This is typically on the frame, not on the PCB
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[Emc-users] Red Cap Fanuc amp part number
I found a part number on the printed circuit board that has all 3 axis on it. Under the PCB are the amps for each motor. Is this the correct number to identify if the amps are "easily retrofitted" to EMC2: A16B-1000-0280/06A ? Steve V -- Developer Access Program for Intel Xeon Phi Processors Access to Intel Xeon Phi processor-based developer platforms. With one year of Intel Parallel Studio XE. Training and support from Colfax. Order your platform today.http://sdm.link/xeonphi ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
