open loop servo tuning.

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03 May 2019 10:33 #132616 by skvallab
I'm using Universal stepper controller made by pico systems.
i'm using a 3 servo system, 2 angular and 1 linear ,all are running in open loop.

2 angular are yashkawa make.
axis 2 (in my ini file) 400 w (1.3Nm rated torque/rated speed 3000rpm) reducer of 5:1 //
servo pulse / rotation =72000//
axis 1 (in my ini file) 840 w (5.39 Nm rated torque/rated speed 1500rpm) reducer of 10:1 //
servo pulse / rotation =36000//

1 linear servo
axis 0 (in my ini file) 750 w (rated torque 2.4Nm//rated speed 3000rpm) ball screw pitch 25 mm /
rotation //servo pusle/roation = 100000//

i cant get it to move to speed of motors capabilites
max it moves is at 70 mm /min
above that it throws line 2 following error.
please guide me in pointing out my error.


i'm attaching my ini file with this thread.

File Attachment:

File Name: univstep_2...5-03.ini
File Size:7 KB

and also the name plate of all three servos.
Attachments:

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03 May 2019 14:47 #132636 by pl7i92
Replied by pl7i92 on topic open loop servo tuning.
in the ini
line 112
MAX_VELOCITY = 3.20 = 192mm/min '''''''''''''''''''''''''''
go for
MAX_VELOCITY = 100.0
DEFAULT_ACCELERATION = 30.0
MAX_ACCELERATION = 500.0
STEPGEN_MAXACCEL = 750.0

ALSO into the AXIS or Joints

STEPGEN_MAXACCEL = 750.0


4000 steps per mm is quite high on open loop servos
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03 May 2019 15:38 #132642 by skvallab
Replied by skvallab on topic open loop servo tuning.
Thanks for the reply,.
reducing 4000 steps /mm to lower values like 400steps / mm gives me a joint 2 following error.

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03 May 2019 16:38 #132645 by pl7i92
Replied by pl7i92 on topic open loop servo tuning.
you cand simply reduce the SCALE it is a Hardware combination to the elektronics count

so if your hardware realy got 4000steps per mm the scale must be the value

is it ok with the 4000steps and does the mashine move the value you commanded
lets say with a dial
Forward backwards 0,1mm
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03 May 2019 16:45 - 03 May 2019 16:45 #132647 by skvallab
Replied by skvallab on topic open loop servo tuning.
i am not sure, but i think it doesnt move to the correct destination,
and i really want to have a lower pulses / mm (My line driver IC doesnt support these high frequencies).
but i get joint 2 following error in linux CNC if i reduce pulses / mm.
it would be great if you guide me a work around to reducing pulses/mm
Last edit: 03 May 2019 16:45 by skvallab.

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04 May 2019 17:38 #132756 by andypugh
Replied by andypugh on topic open loop servo tuning.
What are your following error limits?

And what are the stepgen limits set to?
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06 May 2019 11:18 #132946 by skvallab
Replied by skvallab on topic open loop servo tuning.
How do i find them?
is it hardware related?

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06 May 2019 13:30 #132959 by Todd Zuercher
Those are Linuxcnc configuration settings found in your ini file.

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06 May 2019 13:53 #132961 by skvallab
Replied by skvallab on topic open loop servo tuning.
My ini files doesnt have those values.

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06 May 2019 22:31 #133006 by andypugh
Replied by andypugh on topic open loop servo tuning.

skvallab wrote: My ini files doesnt have those values.


Where did your INI file originate from?

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