Ethercat HAL configuration for Beckhoff EL7041 without encoder

Hello Todd,

I spend this morning a lot of time to follow this tutorial without having real progress yet.
In the meantime I am so far away from the relation between P, FF1 and FF2 described in the tutorial.
To be honest, I don't know how to set the Gains to get something like the graphs in the tutorial.
What I've got for joint-vel-cmd is not a trapeziod, it is merely a 2 stepped ramp when the axis should be stopped...
By looking to the graph it seemd that there was continous failure/fault if my interpretation is correct.

If I would try to create a graph for you, could you help me analyze it?

Regards,
Ben

Hello Allan,

I am able to speak english and german.
Every kind of help is a preciated

By the way, do you think it would be helpful for the overall understanding to see
the settings I've made on EL7041?

Regards,
Ben

If you post a screen shot of the halscope screen that may be helpful for us to see what is going on.
(If you are using the Linuxcnc distributed Wheezy installation there is a screen shot application under Applications/Accessories/Screenshot)

Hello Hawkeye

To help others to help you it makes sense to post all the configuration details you can.

Here is a link to the German YouTube PID tutorial - I hope you find it useful:

YouTube PID Tutorial - German

Allan

Hello both,

first of all - sorry for delay, I had to spend some days in hospital and I needed some time to recover.

In the meantime, I spend some time with Hal Scope.
The result can be found in the attached screenshot (I am pretty happy with that).
Actually, I can speed up to 2500mm/minute without getting an error from linuxcnc.
I guess some of the values may very a little , as I am having almost 3m of cable between motor and EL7041.

Maybe you can help me out with another question I have..
At the moment, I am having 2 motor at the Y-axis.
This is necessary because my gantry is very wide and I don't like to use a syncronisation belt.
Do you know how to deal with this in regards to PID-Controller and virtual encoder feedback?
Do you suggest to setup an PID-Controller for each motor of Y-axis or shall I use only one PID-Controller and copy the
signal to EL7041 controllers (In this case, I have the free choice to use which of the encoders feedback?) ?

Have a good start into 2018

Best Regards,
Ben

Hello Ben

I wish a good recovery after being in hospital.
It is good to read that you are well enough to
return to your LinuxCNC project!

Unfortunately, I do not know the answer to your
question and eagerly await a reply from someone
who understands these matters.

Best wishes for 2018.

Allan