homing with Phase Z encoder on MESA 7i96s

Unfortunately Autotune programs do no adjust the feedforward or deadzone terms so fairly useless
in real world situations.

I suspect for the best performance of a position control (stepgen or Ethercat or whatever) with an added
linear feedback device, you would need two PID loops, the local high bandwidth position loop plus a lower bandwidth
PID loop using the linear encoder feedback. This could be done in hal with two PID components with their outputs
summed.

Yes thank you but then I have no idea how to do it .

Regards

At the minimum you should:

Expand the ferror limits as explained above.

Learn to use halscope.

It will not really be possible to tune without using halscope
regardless of the hal setup.



 

but I know how to use the halscope. I know how to read the curves, but I don't know which parameter to adjust when, for example, I have oscillations in the error.

Can you post a plot that shows this oscillation, including the velocity and the ferror?

hello,I've managed to set my PID.I've mounted an encoder directly on my machine B axis. My encoder is of the phase type A+,A-;B+,B-;Z+,Z-.the feedback is correct on my axis position. However, it's impossible to detect my Z0. I have a 7i96s and I've connected my two Z+,Z- wires to pins 13 & 14 of TB2 on my card. My .hal file is correctly configured for homing with this Z phase. I've tested 5 encoders of the same type. but I can't find the Z pulse.Is there a trick? Can anyone help me? Thanks