Light Machine Corp. Benchman XTr (retrofit)

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11 years 1 week ago #64007 by PCW
Note that there is no guarantee that the PID parameters are in the same units between systems...

Also if these are velocity mode drives, tuning is 99% getting the FF1 term correct since the drive itself closes
the current and velocity loops. If you scale the PID output correctly (in machine units per second at 10V)
FF1 will be 1.0

Ziegler Nichols is largely useless for velocity mode drives

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11 years 1 week ago - 11 years 1 week ago #64030 by steve_a
I checked the serial number in my configuration and on the machine and they matched! The PID numbers are in fact meant for this specific machine. If yours is working (dynamyte24) and those are valid numbers then that is very positive news. As PCW pointed out, the units may be different but I suspect they are similar enough that if one of us manages to get this, then we will all have a valid starting spot.
I'm back to using the Mesa cards. I am contemplating gutting the machine and spent time today looking at the toroids. I was reading the labels and trying to determine what voltages they supply. In the end, I think I might get raw voltages and need to provide regulators. There is a lot of interconnection with the power and the encoder breakout and the larger controller the encoder PCA attaches to. I also noticed that the 24V PS does not provide 24V unless there is sufficient air pressure. This is probably a safety feature to prevent the tool changer from moving if there is not sufficient air pressure. I am sorely tempted to trash all the power supplies and start over with the encoders, servo motors, DDN-019 and servo controllers. I want to look closer but there seems to be a large amount of control exerted by the two PCA that I most want to trash. If I can work around the Power supply interlocks and allow the new controller to take over, I won't have to do that but I'm not sure it is worth the time to figure out what the cards are doing. Unless I can get hold of a schematic , which is very unlikely, I don't want to waste too much time looking at that. I wrote down some wiring information and need to look that over for a bit and decide what to do next. I WOULD like to get some movement but without the motion controller card, that seems like it would be impossible.
Last edit: 11 years 1 week ago by steve_a. Reason: spelling

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11 years 1 week ago #64057 by andypugh

steve_a wrote: I WOULD like to get some movement but without the motion controller card, that seems like it would be impossible.


It is fairly common to test a velocity-mode drive with a 1.5v battery.

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11 years 1 week ago #64107 by steve_a
Mac Do you have a wiring diagram for your current setup? I'm curious as to what you've done so far.

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11 years 1 week ago - 11 years 1 week ago #64121 by MacGalempsy
I do have a complete wiring diagram, which took over 6 months of research and testing.

Here is a link to the manuals and such that I have come across.
Link: Dropbox Account

I have detailed pinouts on all connections coming off the factory boards, as well as signals.
I would be happy to provide these for a small fee, or trade for working ATC code.
Last edit: 11 years 1 week ago by MacGalempsy. Reason: Added info

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11 years 1 week ago - 11 years 1 week ago #64200 by steve_a
Mac,
Thanks for posting those files. Some of this is really making sense now. I attempted to move my Z axis with a 12 v Battery last night. I discovered the electric brake. It says 24V so I didn't even try. I am recharging my battery tonight and I might be able to see this beast move with a charged battery,
I also looked at the wiring to the axis encoders and believe I have a good map of the encoder connections. I'm going to assume that they are all the same.
Last edit: 11 years 1 week ago by steve_a. Reason: spelling

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