Servo Tuning detailed How To.

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10 Aug 2019 08:22 #141851 by tommylight
You have a 7i76 so you have to use step/dir.
For +-10V you would need a Mesa 7i77.
But since you have encoders wired back to Linuxcnc, it should not make much difference.
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11 Aug 2019 05:18 #141892 by Type_Zero_Design
Todd any chance you could provide your .Hal file to refrence the encoder hookups?

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11 Aug 2019 20:18 #141928 by Todd Zuercher
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13 Aug 2019 03:23 - 13 Aug 2019 03:33 #142014 by Type_Zero_Design
Todd,

I noticed that you have this portion in your .Hal that mine dose not have.
**** Edit looks like I have everything starting at net x-pos-fb just under a different title. I'm assuming I need all the prefix setup lines as well?***

# ---Encoder feedback signals/setup---

setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE

net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts



Do I need to have this in my .Hal for each axis?

Also I'm assuming that my encoders counts should be moving positive when the axis is moving positive correct? If not where is that correction made?

Sorry for all the questions.
Last edit: 13 Aug 2019 03:33 by Type_Zero_Design. Reason: Found mistake

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13 Aug 2019 15:03 #142029 by tommylight
I do think that you need that for each axis, plus you need another line with pid in it to the encoder, and the stepgens should be changed to mode 1 i think or velocity mode, not position mode as they usually are.
As for encoder counting in the correct direction, just change the scale or encoder_scale by adding a " - " in front of the number.
Later on you might also need to add that minus to any or all of the axis outputs for it to corelate to the correct motion direction.
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13 Aug 2019 19:57 #142077 by Todd Zuercher
The encoder scale (and the matching line in the INI file that the variable references) are very important. the other setp lines I think are all default values and may not be nessisary.

The net line for raw counts isn't necessary and is not used in my config. and the index-enable is only needed if you are using the encoder index for homing purposes.
The other net lines should match up with ones you already have for the most part. (your existing signal names may differ)
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14 Aug 2019 11:39 #142110 by andypugh

Todd Zuercher wrote: If the DRO is working, the joint.N.f-error will be working as well, They are calculated from the same input..


Possibly the PID is not connected to the feedback?
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19 Aug 2019 03:47 #142470 by Type_Zero_Design
Ok Guys, Good News!

I finnally got the opportunity to get back on the machine again and with all your help I think I got my .HAL and .INI straightened out.

So DRO seems to be working appropriately (shows movement when moved by hand w/o drive enabled) , table movement on indicator matches the DRO movement on screen.

So now opening halscope, Ive run into a few things.

1. How do you get the the display to be bigger in the grid? You can see in my attached photo that the channels are very small and hardly visible.

2. I dont seem to have the lines similar to yours but i'm not sure if thats related to the view in hal scope.

Attachments:

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19 Aug 2019 05:24 #142471 by rodw
Replied by rodw on topic Servo Tuning detailed How To.
Play around with the sliders on the left and the scale sliders at the top to zoom in.

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19 Aug 2019 10:22 #142482 by tommylight

rodw wrote: Play around with the sliders on the left and the scale sliders at the top to zoom in.

Hmm on the right ?!?!
:)

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