Brother TC-225 / TC-229 adventure!

O_o
my drives are velocity mode. or were you talking to todd?

Todd wrote:

From the trigger source. When the value of the trigger source crosses the trigger level (in the chosen direction (rising or falling) Halscope starts recording the sample.
In the above, I was using channel 3 (axis.0.joint-vel-cmd) as the trigger source, and the green dotted horizontal line in the Halscope plot was the trigger level.

ah, I think I get that now. thanks.

PCW wrote:

ok so one _really_ basic thing: These are torque mode drives NOT velocity mode so tuning is quite different

Sorry Peter, the above screen shot is one of my machines I just posted as an example of what to put in his screen shot. (yes mine are torque mode)
His may not be, we've not seen the plot yet.

Oops got so interested in the plot I missed the source

Linux pc not networked and no is stick.. . So here's a pi ov the screen.

This is y axis 200ipm 1 inch move 0.25g

F error is .001 inch per segment. 1 encoder count is .00004 inch.

One pic of 33ipm jog.

One of the clunky jerky part of that adaptive clearing 400 ipm which should have been a smooth arc.

Thanks

One thing the would help a bit is plotting the commanded velocity and the encoder velocity

The commanded velocity would show the TPs motion better than position does

The encoder (feedback) velocity might shed some light on source of the high frequency oscillation

ok, ill do that in the morning. (I went home )

thanks.

on a mechanical note, I checked the tc229 and it has zero backlash in all axes. I need a spindle drive for that guy!

so, I noticed these are well priced...
www.ebay.ca/itm/Delta-750w-400w-EtherCAT...vByLv6KifMX5nxzOoyIw

and then noticed they are being used with linuxcnc by some people. thinking that maybe we use this for the tc229, I already have a full beckhoff kit with IO, relays, and other nifty bits and bobs.

how mature is the ethercat in linuxcnc? would it be easy to set up and get running well? keep in mind this is me, and uh... I usually need hand holding

well, I did nothing since Friday. had a dental issue, much pain. haha. hopefully I can get back to it tonight, otherwise ill get those hal scope plots tomorrow night.