Retrofitting a 1986 Maho MH400E

Congratulations for the successful latching of the machine. Now it is time to set the correct p,I,d, settings on linux cnc. Until you set the correct values it is normal for linuxcnc to disengage do to fallowing errors. Temporary for the tests set a larger accepted fallowing error in linuxcnc settings and keep one hand at the estop at all time.
Try the whole configuration that I have post, don’t just copy the gearchange.clp to your configuration, if it works than you can change it with the pncconf to match the wiring on your machine. If it is not working than plz post some screenshot of the error message to find a solution
John

During the tests don’t try to move the axis with hand, there is a possibility one axis to be reversed and just stay still until you try to move it with your hand, than the servo will run at full speed and your may loose a finger of worse.
John

Thanks John, good idea, I'll try the full set of config files from your machine.

If the encoder (DRO) reads properly, the fix is to change the sign of the analog output in HAL

Do you mean putting a "not" on the end of this line?
net x-output => hm2_5i25.0.7i77.0.1.analogout0
Mark

For the pncconf created config it would be changing
#********************
# Axis X
#********************
[AXIS_0]
...
OUTPUT_SCALE = -10.0
to
OUTPUT_SCALE = 10.0

Thanks, that was it.

I could then move on to PID tuning. To the guys who programmed the HAL Oscilloscope, and the calibration screens, a big thank you. So far:
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 20.0
MIN_FERROR = 1.0
MAX_VELOCITY = 45
MAX_ACCELERATION = 750.0
P = 6.5
I = 0
D = 0
FF0 = 0
FF1 = 0.22
FF2 = 0.03
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0 # shouldnt this be 10V?
ENCODER_SCALE = -1000
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -20.0
MAX_LIMIT = 380.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = YES
HOME_SEQUENCE = 1

returns the following performance:
100mm/min,about 0.06mm overshoot during start and stopping.


500mm/min - Still about 0.1mm oversoots, but will a little more hunting.


1000mm/min - Overshoots now up to 0.3mm, with two overshoots.


2000mm/min - Errors up to 0.6mm.


I have been working through this #how-to"
www.wiki.eusurplus.com/index.php?title=Category:Tuning

In test 7 he states, "And finally the tuned system response:" but it is not clear to me what was done here.

It look like the acceleration is set much higher than the machine can follow

( there should be a visible parabolic corner on the position trace during acceleration but it looks like a sharp corner )