Excello conversion with DC servo's and 5i25/7i77 problems

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17 Mar 2017 05:31 #89800 by daninaustin
daninaustin created the topic: Excello conversion with DC servo's and 5i25/7i77 problems
I finally got my resolvers switched out for 1000 line encoders and they seem to be working correctly (at least close... i made a mark on the table and manually rotated the x axis 1 turn and it looks correct.

I'm having problems getting the servo's tuned (or working at all really.) I'm using AMC 20AVRA amps (which i was told are like 20a20's but they are special OEM version for someone. I tried to get more info from AMC but they won't tell me anything.) I have adjusted the offset so the motors are relatively still (when i enable them in linuxcnc they start moving a bit but not a lot.) If I Try and do a command like g0x1 the drive seems to hesitate a bit and then moves but not much. I'm not sure where to get started. The motors do have tach's on them but they are not connected (i was told i should be using torque mode and have set the amps for that (I think.) Any suggestions would be appreciated.

The motors do seem to be working ok, just not under control. When i first started up the system, before i adjusted the offset it moved pretty quickly towards the limit (I don't have any limits or home switches setup yet.)

I have included my ini but I have been doing some trial and error to try and figure out the problem so it may be borked.

# Generated by PNCconf at Thu Mar 16 14:45:20 2017
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = March2017
DEBUG = 0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/dholzric/linuxcnc/nc_files
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.250000
MAX_LINEAR_VELOCITY = 1.000000
MIN_LINEAR_VELOCITY = 0.016670
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 200000

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25

[HAL]
HALUI = halui
HALFILE = March2017.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.10
MAX_LINEAR_VELOCITY = 1.00
NO_FORCE_HOMING = 1

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 10.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
P = 15.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.06
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 5.0
ENCODER_SCALE = 20000.0
OUTPUT_SCALE = 10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -24.0
MAX_LIMIT = 24.0
HOME_OFFSET = 0.0

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
P = 50.0
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
ENCODER_SCALE = 4000.0
OUTPUT_SCALE = 10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -0.001
MAX_LIMIT = 8.0
HOME_OFFSET = 0.0

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
P = 50.0
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
ENCODER_SCALE = 40000.0
OUTPUT_SCALE = 10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -4.0
MAX_LIMIT = 0.001
HOME_OFFSET = 0.0

#********************
# Spindle
#********************
[SPINDLE_9]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 2000.0
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17 Mar 2017 09:46 #89809 by andypugh
andypugh replied the topic: Excello conversion with DC servo's and 5i25/7i77 problems

daninaustin wrote: The motors do seem to be working ok, just not under control.


Have you monitored the pid.N.output pin with halmeter? That should correlate to a voltage measured at the amp control terminals.
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17 Mar 2017 10:45 #89813 by tommylight
tommylight replied the topic: Excello conversion with DC servo's and 5i25/7i77 problems
You have no deadband set, please do set it at something like 0.001 and test again.
Have you read the tutorials on servo tuning? There is one by BigJT that is very useful and easy to folow, and one by me with much more info regarding 7i77 and servo tuning.
Also i think you should have drives set for voltage mode if not using tachos and closing the loop in Linuxcnc. You should double check this.
When you enable Linuxcnc the motors should not move at all, just get stiff and resist movement when you try to move them by hand.
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18 Mar 2017 03:03 #89845 by daninaustin
daninaustin replied the topic: Excello conversion with DC servo's and 5i25/7i77 problems
I set the deadband and gave it a try again. I think part of my problem is that these amps (AMC 20AVRA) may not be set correctly. I tried what i thought was correct from the 20A20 documentation since there is none for these but it may not be correct.
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14 Apr 2017 11:54 #91358 by new2linux
new2linux replied the topic: Excello conversion with DC servo's and 5i25/7i77 problems
daninaustin, I am working my way thru setup with AMC amps myself, this being my 1st approach with AMC amps I found the following documentation helpful. I have not quite finished my setup, but certainly wish you the best with your project!

dpk3n3gg92jwt.cloudfront.net/domains/amc.../AMC_AppNote_011.pdf
www.a-m-c.com/wp-content/uploads/support...ual_Analog_Panel.pdf
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