8i20
01 Mar 2022 23:40 - 02 Mar 2022 00:14 #236145
by PCW
Does the init cycle run without fault?
What I am getting at is that you may get faults due to instability,
either in LinuxCNCs PID = LinuxCNC PID tuning issues or in the 8I20.
If you cannot set a static current in the 8i20 without fault, its likely the
8I20s current loop PI gains are too high for your motor.
What I am getting at is that you may get faults due to instability,
either in LinuxCNCs PID = LinuxCNC PID tuning issues or in the 8I20.
If you cannot set a static current in the 8i20 without fault, its likely the
8I20s current loop PI gains are too high for your motor.
Last edit: 02 Mar 2022 00:14 by PCW.
The following user(s) said Thank You: dkraft
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02 Mar 2022 00:14 #236146
by andypugh
Is this just for testing? I have forgotten how the calculations work, but this seems odd.
I run both my machines with 8i20, but as they have resolvers the configs won't transfer straight across.
Try with the max and min current matching the nvmaxcurrent (7.5A = 0x2EE, which you seem to have)
setp [HMOT](CARD0).0.8i20.0.0.current-maxlim 0.020
setp [HMOT](CARD0).0.8i20.0.0.current-minlim -0.020
Is this just for testing? I have forgotten how the calculations work, but this seems odd.
I run both my machines with 8i20, but as they have resolvers the configs won't transfer straight across.
net x-meas-angle bldc.0.rotor-angle => hm2_5i23.0.8i20.0.2.angle
setp hm2_5i23.0.8i20.0.2.current-maxlim 7.5
setp hm2_5i23.0.8i20.0.2.current-minlim -7.5
net x-cmd joint.0.motor-pos-cmd => pid.0.command
net x-vel-cmd joint.0.vel-cmd => pid.0.command-deriv
net x-fb hm2_5i23.0.resolver.01.position pid.0.feedback joint.0.motor-pos-fb
net x-vel-fb hm2_5i23.0.resolver.01.velocity pid.0.feedback-deriv
setp hm2_5i23.0.resolver.01.velocity-scale -1
net x-pid pid.0.output => hm2_5i23.0.8i20.0.2.current
#12 motor 49 pulley 5 leadscrew pitch
setp hm2_5i23.0.resolver.01.scale -1.2244898
net amp-enable-and-DC-good pid.0.enable
setp pid.0.Pgain [JOINT_0]PGAIN
setp pid.0.Igain [JOINT_0]IGAIN
setp pid.0.Dgain [JOINT_0]DGAIN
setp pid.0.bias [JOINT_0]BIAS
setp pid.0.FF0 [JOINT_0]FF0
setp pid.0.FF1 [JOINT_0]FF1
setp pid.0.FF2 [JOINT_0]FF2
setp pid.0.deadband [JOINT_0]DEADBAND
setp pid.0.maxoutput [JOINT_0]MAXOUTPUT
setp bldc.0.scale -16777216
setp bldc.0.poles 6
setp bldc.0.lead-angle 0
setp bldc.0.encoder-offset -950000Try with the max and min current matching the nvmaxcurrent (7.5A = 0x2EE, which you seem to have)
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02 Mar 2022 17:57 - 02 Mar 2022 23:10 #236201
by dkraft
Last edit: 02 Mar 2022 23:10 by dkraft.
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02 Mar 2022 18:47 #236205
by PCW
The following user(s) said Thank You: dkraft
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