I can´t get a motor to stop: stepper motor + encoder

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06 May 2024 13:25 - 06 May 2024 14:20 #299939 by tovarna
Hi,
I have a Mesa 7i95 with, so far, 2 stepper motors and encoders and I plan to use it on an old plasma machine.
Already set the software over linuxcnc 2.9 and I got the motors to run (I changed the original servos for some steppers, I know I might go back to servos, but this was what I had around and wanted to try them before spending extra bucks).
Long story short, I got to move in both axis but the enconder of one of the axis (the other is not well configured or wired) never finds the position it seeks. Hope a video explains: 
video of my issue

X axis, I did not get the encoder to work.
Y axis, is the one in the video that moves all the time
(Yes, I might have named them the other way around). 

Plasma.ini and plasma.hal attached

1- I do not know what to change in order to that motor to stop when searching its position
2- I do not know what I did wrong in the other axis, because it is not reading the encoder.

Could be that some wiring and or encoder to be not working properly...but I do think it is more my mistake in setting the .ini and .hal.

Any piece of advice is much appreciated.
Thanks,
Javier
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Last edit: 06 May 2024 14:20 by tovarna.

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06 May 2024 14:14 - 06 May 2024 14:16 #299944 by PCW
setp pid.x.maxerror 0.00012700

will cause issues, this is supposed to be:

setp pid.x.maxerror 0.012700
Last edit: 06 May 2024 14:16 by PCW.
The following user(s) said Thank You: tovarna

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06 May 2024 14:19 #299946 by tovarna
Thanks.
Some more info
X axis, I did not get the encoder to work.
Y axis, is the one in the video that moves all the time

Yes, I might have named them the other way around. Will fix that maxerror too

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06 May 2024 15:06 - 06 May 2024 15:07 #299950 by PCW
Note that if you use encoder feedback. the P term must be _much_ lower
(than 1000) or you will have oscillations.
Last edit: 06 May 2024 15:07 by PCW.

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