Closed Loop Issue
04 Aug 2016 12:32 #78354
by andypugh
It might be better to change the period of the servo thread and remove the test-thread.
Replied by andypugh on topic Closed Loop Issue
I'm going to move everything to the test-thread and rearrange them to try to get some meaningful results.!
It might be better to change the period of the servo thread and remove the test-thread.
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22 Aug 2016 21:30 #79281
by Cpk_Rbt
Replied by Cpk_Rbt on topic Closed Loop Issue
Removed the test thread, left servo thread its default time.
Changed EtherCAT .xml configuration to treat position data as floats and scale on the fly.
Old:
<pdoEntry idx="60C1" subIdx="01" bitLen="32" halPin="poscommand" halType="s32"/>
New:
<pdoEntry idx="60C1" subIdx="01" bitLen="32" halPin="poscommand" halType="float" scale="18204.604"/>
I had them set as s32 types because I thought they had to match how the drive handles them. Changed them to floats with no problems, which opened up the door to using the built-in scaling and eliminated all the conv_float_s32 and mult2 functions I was using to convert the data types and scale the values.
Changed EtherCAT .xml configuration to treat position data as floats and scale on the fly.
Old:
<pdoEntry idx="60C1" subIdx="01" bitLen="32" halPin="poscommand" halType="s32"/>
New:
<pdoEntry idx="60C1" subIdx="01" bitLen="32" halPin="poscommand" halType="float" scale="18204.604"/>
I had them set as s32 types because I thought they had to match how the drive handles them. Changed them to floats with no problems, which opened up the door to using the built-in scaling and eliminated all the conv_float_s32 and mult2 functions I was using to convert the data types and scale the values.
Please Log in or Create an account to join the conversation.
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