Cincinnati Cintimatic Anilam Crusader M 5i25_7i77

More
08 May 2015 09:50 #58501 by jtektool
Retrofit I'm getting the nerve to boot up soon. Need to confirm all jumpers and signals though.

Please Log in or Create an account to join the conversation.

More
08 May 2015 10:08 - 17 Jan 2016 06:39 #58502 by jtektool
Last edit: 17 Jan 2016 06:39 by jtektool. Reason: Added YouTube link

Please Log in or Create an account to join the conversation.

More
08 May 2015 22:18 - 09 May 2015 00:52 #58509 by jtektool
So, I have basically only four (pairs) of gpio wires coming into the box. E-Stop (source +24v), Limit-OK (source +24v), Servo Enable (sink via relay), Servo Reset (sink via relay). The E-stop and Limit-OK are wired directly to 7i77 inputs. I am using a separate (24v) power supply for relay logic (panasonic ice cubes with flyback diodes) with + side of coil wired to outputs and - side wired to (7i77) field logic ground. My encoders are single ended glass scales. My jumper settings are:
W1: Left
W2: Right
W3: Right
W4: Left
W5: Left
W12: Left
Encoder Jumpers are all Left.

Do I have Anything wrong?
Last edit: 09 May 2015 00:52 by jtektool.

Please Log in or Create an account to join the conversation.

More
17 Jan 2016 06:36 #68574 by jtektool
Now off to tune FF1 and FF2. P is stable at 15. I is set at 0 as is D. FF0 is also 0. FF1 is showing stability at around 3.6 so FF2 is smoothing out at around 0.6

Please Log in or Create an account to join the conversation.

More
18 Jan 2016 15:25 #68687 by andypugh
FF1 should probably be determined by calculation rather than experimentation.
it will only work properly if the PID component has the command-deriv pin connected.
The following user(s) said Thank You: jtektool

Please Log in or Create an account to join the conversation.

More
19 Jan 2016 17:30 - 19 Jan 2016 18:00 #68771 by jtektool
Well, so far I have tried those numbers (calculated) and the results on both the oscilloscope and just observation were pretty bad, in with respect to how quick it would throw a following error (When the following error was set pretty high), I also took some screenshots of axis.0.joint-vel-cmd graphed against axis.0.f-error. Anyhow so far I was able to lower the following error down and down as I have adjusted these numbers and examined the graphs. Any input would be greatly appreciated at this point.

Screenshot - P-15_I-0_D-0_FF0-0.0_FF1-4.4_FF2-0.7
Screenshot - P-15_I-0_D-0_FF0-0.0_FF1-4.2_FF2-0.7
Screenshot - P-15_I-0_D-0_FF0-0.0_FF1-3.9_FF2-0.7
Screenshot - P-15_I-0_D-0_FF0-0.0_FF1-3.6_FF2-0.6
Screenshot - P-15_I-0_D-0_FF0-0.0_FF1-3.5_FF2-0.67
Last edit: 19 Jan 2016 18:00 by jtektool.

Please Log in or Create an account to join the conversation.

More
19 Jan 2016 23:00 - 19 Jan 2016 23:01 #68783 by jtektool
Another question I would have is what kind of reasonable expectations for following error should I have on this machine? The encoders are only 1270 count, I.E. my scale is at 2540. So far I HAVE been able to achieve 90 IPM, with lots of moves with my FERROR = .5 , MIN_FERROR = .200. P =15, FF1=3.5, FF2=.5725. What should FF1 and FF2 be by calculation?
Last edit: 19 Jan 2016 23:01 by jtektool.

Please Log in or Create an account to join the conversation.

More
20 Jan 2016 14:27 #68823 by andypugh

Another question I would have is what kind of reasonable expectations for following error should I have on this machine? The encoders are only 1270 count, I.E. my scale is at 2540.


You can't really expect to be less than 4 encoder counts from the setpoint.

So, if your machine is Imperial and your scale is 2540 then the expected accuracy is 0.0015"

If your machine is metric then it is 0.0015mm, and in that scenario the machine hardware is the limit, not the encoders and controls.
The following user(s) said Thank You: jtektool

Please Log in or Create an account to join the conversation.

More
22 Jan 2016 23:02 - 22 Jan 2016 23:03 #68941 by jtektool
So ladies and gentlemen, here is what I figured out:
If you are convetring an Anilam system, it's probably best to manually tune the Westamp drives before proceeding with anything else!
Here is the procedure that I used:
Westamp Manual Tuning
Here is the text if the link ever breaks:
Warning: Spoiler!
Attachments:
Last edit: 22 Jan 2016 23:03 by jtektool.

Please Log in or Create an account to join the conversation.

Moderators: cncbasher
Time to create page: 0.106 seconds
Powered by Kunena Forum