PID Setting for drifting axis

Here you can find the .ini and .hal document:


We already fixed one of the encoders and they all work properly. Furthermore we have been testing the axis with an external power supply and they move smoothly this way.

setp hm2_5i20.0.pwmgen.04.output-type 1

Wrong PWM output type

So what's happening is this:

The 7I48 is designed for UP/DOWN PWM mode (output type 2)
where positive outputs are generated by a PWM signals on the UP pin
and negative outputs are generated by PWM signals on the DOWN pin
the absolute analog voltage in either case is proportional to the PWM duty cycle

If you instead run the 7I48 with the PWM generator in PWM / DIR mode (output mode 1)
it works fine in the direction that the direction pin is 0, but you get a immediate full scale
output (10V) when the PID output sign changes making the direction pin high

Thanks for the explanation.
We changed output mode to 2.
Now, when we start the machine the axis starts to accellerate to a high velocity until a joint following error appears.



Is it possible, that it tries to home the axis?

That's expected (it means the loop feedback is positive instead of negative)

The fix is to reverse the PWM output scale, that is change:

OUTPUT_SCALE = 10.0

to:

OUTPUT_SCALE = -10.0

in the per AXIS sections of the .ini file

We just changed the output scale to -10 and everything works out perfectly. :woohoo:
Thanks for your help!!

We also added all the soft stop configuration without problems and a hand device that includes a turning wheel
and a switch to select the axis.
Now we also want to add a plus and a minus button to drive the axis, but don't know which output we have to connect to the signals of the buttons. Thanks in advance!

Have a look in halui. I think that is where the jog-plus and jog-minus pins live.