Servo tuning / debugging help - clarification of context….

More
08 Feb 2021 19:59 #198057 by Jaro
Good day.
I also return to the questions regarding servo tuning.
I've already spent a lot of hours on it. tooth (oscillation) at the beginning was a mechanical matter, which I removed.
however, the "axis0 f-error" curve still copies the "axis0 join-vel-cmd" curve (as seen in the previous figure).
I can't get to the baseline, the f-error as described in the instructions.
I don't know if it's in the driver settings and I don't even know what to change there.
I use this driver:
support.keba.com/cds/online/#doc/01-cde-...1-cde-cdb-cdf-AHB-en
can anyone think of something to reduce high f-error?
thank you for any advice

Jaro

Please Log in or Create an account to join the conversation.

More
08 Feb 2021 20:34 #198061 by Todd Zuercher
Does adjusting the FF1 help with the velocity dependent f-error?

Please Log in or Create an account to join the conversation.

More
08 Feb 2021 20:38 #198062 by Jaro
Thank you, Todd.
any value of FF1, whether positive or negative, does not affect the f-error curve. I tried values from -10 to +10.

Please Log in or Create an account to join the conversation.

More
08 Feb 2021 20:44 #198064 by db1981
can you post hal and ini files?

looks like an scaling error or some wrong hal linking

Please Log in or Create an account to join the conversation.

More
08 Feb 2021 20:50 #198066 by bevins

can you post hal and ini files?

looks like an scaling error or some wrong hal linking


He posted the files in the first post.

Please Log in or Create an account to join the conversation.

More
08 Feb 2021 20:52 #198067 by Todd Zuercher
Comment out this line in your hal file for each axis.
net x-vel-cmd       =>  pid.x.command-deriv

Please Log in or Create an account to join the conversation.

More
08 Feb 2021 20:55 #198068 by Todd Zuercher
That and you may want to update to a more current version of Linuxcnc.
That problem is caused by a bug in PNCconf that was corrected in later versions of Linuxcnc 2.7.

Please Log in or Create an account to join the conversation.

More
08 Feb 2021 21:11 #198072 by Jaro
now I've 2.7.15 linuxcnc version.
Do you think, upgrade on 2.8 can eliminate this anomaly?
yes I started with PNCconf and then added the necessary functionality.
I 'll try to comment you wrote.tomorow I'll send actual config file.

Please Log in or Create an account to join the conversation.

More
08 Feb 2021 21:13 #198074 by db1981
okay...

Your ini scaling is 10V at 35mm/s (2100mm /min) is this correct?
(motor revs/min at 10V /60 (/gear ratio) * ballscrew pitch)

Please Log in or Create an account to join the conversation.

More
08 Feb 2021 21:17 #198075 by Todd Zuercher
It might not make a difference, unless you regenerate your configuration. The bug was in the wizard you created your config with. And I don't know if it would be smart enough to find and remove it from your existing config. Easier just to fix it manually.

Please Log in or Create an account to join the conversation.

Time to create page: 0.398 seconds
Powered by Kunena Forum