Help please !!! Servo configuration with stepconf.

John ! I really appreciate your help.

Regarding the parameter setting in 4.8.3, I had a look at it but didn't realize it's importance. Is it really important ? Then I will go through this chapter.

Actually I pushed my whole energy at power source combination. Because I cant jog the motor alone with driver without linking it to breakout board to make servo enabled. The breakout board get power from PC usb which I think supply 5v or 3.3v while driver needs 12v-24v.

ishman wrote:

Regarding the parameter setting in 4.8.3, I had a look at it but didn't realize it's importance. Is it really important ? Then I will go through this chapter.

That and the control mode type are essential settings and I'm amazed that the motor moved at all without setting those two things correctly. My suggestion is to read the manual from start to end and make sure you have all things set as outlined in the manual.

John

I set the mode type properly at every type of run like jog and position step/dir mode but really missed this one.

That means if motor moves little bit with jog command and from pc step/dir command then there is nothing to worry about power source ? I have concern about it because at page 35 in position control schematic there is mentioned 12-24v power supply to vcccom pin.

I have solved the issue and now motor is running smooth. Some enhancement still left in my machine to tune it with load. But before my Mesa cards arrives, I will try to hook it with my basic breakout board and with step/dir commands configured with stepconf wizard.

The cause of my problem was that I gave servo enable power through my breakout board which was showing that it's enabling the servo while it wasn't supplying enough power. Today I removed servo enable wire from breakout board and supplied the power from external 12v source to servo enable driver input port and it started spinning the motor smoothly. Now it's time to tune as you all suggested.

I tried to move an empty motor with stepconf jog and it runs smooth from there as well. But it lacks speed. I can't manage to increase the speed with stepconf but I am sure that I can manage to do it with drive's internal settings. But is it recommended to do this with open loop configuration ?

ishman wrote:

I tried to move an empty motor with stepconf jog and it runs smooth from there as well. But it lacks speed.

The maximum speed will probably depend on the encoder counts and the base thread rate.

If you have a 1024 count encoder then that is 4098 pulses per rev (probably). If you have a 40,000nS base thread (on the slow side, what number do you actually have?) then you can pulse at 25kHz, which gives you 25,000 / 4098 = 6rps = 366rpm.

A faster base-thread will help, but you probably can't go much below 20,000 (what was your latency test result?) and I think I saw that you can change the "electronic gearing" of the drive so that one input pulse = more than one encoder count.

with
"gzip -c /dev/urandom > /dev/null"
I am getting
Servo Max jitter = 16350
Base max jitter = 19001

Encoder is 2500 C/T

I am running it with electronic gearing disabled.