Elumatec SBZ 130/01 retrofit
22 Jan 2017 20:45 #86423
by PCW
Replied by PCW on topic Elumatec SBZ 130/01 retrofit
Nah, its Sunday but its raining...
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23 Jan 2017 18:35 #86499
by tommylight
Replied by tommylight on topic Elumatec SBZ 130/01 retrofit
Ok, flashed the new firmware PCW made for me to have 6 SSI and 2 SSerial on 7i74, all working nicely.
Wired all encoders, all working.
Wired servo drives .........and working but only in one direction, pressing + or - moves in the sames direction on all axis. Checked the HAL Configuration for hm2_5i25.0.7i77.0.1.analogout0 and hm2_5i25.0.7i77.0.1.analogout1 and hm2_5i25.0.7i77.0.1.analogout2, all give negative value when pressing - or +.
Also changed the OUTPUT_SCALE adding - but no joy just changes the direction as it should, also changing encoder scale does nothing as far as moving forward/backward is concerned.
Wired all encoders, all working.
Wired servo drives .........and working but only in one direction, pressing + or - moves in the sames direction on all axis. Checked the HAL Configuration for hm2_5i25.0.7i77.0.1.analogout0 and hm2_5i25.0.7i77.0.1.analogout1 and hm2_5i25.0.7i77.0.1.analogout2, all give negative value when pressing - or +.
Also changed the OUTPUT_SCALE adding - but no joy just changes the direction as it should, also changing encoder scale does nothing as far as moving forward/backward is concerned.
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23 Jan 2017 18:47 #86501
by tommylight
Replied by tommylight on topic Elumatec SBZ 130/01 retrofit
Got the X axis working in both directions, now to expunge the joint.0.following errors
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23 Jan 2017 19:30 #86502
by tommylight
Replied by tommylight on topic Elumatec SBZ 130/01 retrofit
Something fuzzy with encoder feedback, i get the error even when moving slowly at exactly the amount set in the ini file, namely i get the error at 1mm of movement, that is the min_ferror.
Something fishy in ..........enter country here !!!
Something fishy in ..........enter country here !!!
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23 Jan 2017 19:34 #86503
by PCW
Replied by PCW on topic Elumatec SBZ 130/01 retrofit
Are you sure the feedback is negative? (there's a 50 % chance of getting this wrong on a first time setup)
You probably need to plot the commanded and feedback position (with HALScope) to see whats going on
You probably need to plot the commanded and feedback position (with HALScope) to see whats going on
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23 Jan 2017 20:19 #86508
by tommylight
Replied by tommylight on topic Elumatec SBZ 130/01 retrofit
net x-pos-fb <= hm2_5i25.0.ssi.00.xencoder.position
net x-vel-fb <= hm2_5i25.0.ssi.00.xencoder.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_5i25.0.ssi.00.xencoder.index-enable
net x-pos-rawcounts <= hm2_5i25.0.ssi.00.xencoder.rawcounts
When i enable the x-vel-fb linuxcnc fails to start complaining about hm2_5i25.0.ssi.00.xencoder.velocity does not exist.
net x-vel-fb <= hm2_5i25.0.ssi.00.xencoder.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_5i25.0.ssi.00.xencoder.index-enable
net x-pos-rawcounts <= hm2_5i25.0.ssi.00.xencoder.rawcounts
When i enable the x-vel-fb linuxcnc fails to start complaining about hm2_5i25.0.ssi.00.xencoder.velocity does not exist.
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23 Jan 2017 20:28 - 23 Jan 2017 20:28 #86511
by PCW
Replied by PCW on topic Elumatec SBZ 130/01 retrofit
That's correct, there is no velocity pin on SSI (or BISS or FANUC) encoders
This is because unlike quadrature encoders, there is no mechanism to get a
better velocity estimate than simple d/dt of position
The PID component calculates this d/dt velocity automatically from the feedback position
if the pid.n.feedback-deriv pin is left unconnected
This is because unlike quadrature encoders, there is no mechanism to get a
better velocity estimate than simple d/dt of position
The PID component calculates this d/dt velocity automatically from the feedback position
if the pid.n.feedback-deriv pin is left unconnected
Last edit: 23 Jan 2017 20:28 by PCW.
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23 Jan 2017 20:47 #86512
by tommylight
Replied by tommylight on topic Elumatec SBZ 130/01 retrofit
Thank you PCW.
Still getting the error, set the min_ferror at 3, i get the following error after exactly 3 mm of movement. DRO shows all is good moving up and down.
Seems to me like it is not updating the pid feedback.
Strange.
Still getting the error, set the min_ferror at 3, i get the following error after exactly 3 mm of movement. DRO shows all is good moving up and down.
Seems to me like it is not updating the pid feedback.
Strange.
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23 Jan 2017 20:54 #86513
by PCW
Replied by PCW on topic Elumatec SBZ 130/01 retrofit
look at motions commanded and feedback pins:
axis.N.motor-pos-cmd
and
axis.N.motor-pos-fb
The following error is the difference between these pins
axis.N.motor-pos-cmd
and
axis.N.motor-pos-fb
The following error is the difference between these pins
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23 Jan 2017 21:04 #86514
by tommylight
Replied by tommylight on topic Elumatec SBZ 130/01 retrofit
Using 2.8 so i have
joint.N.motor-pos-cmd
and
joint.N.motor-pos-fb
on the scope they do not move at all while
joint.N.pos-cmd
and
joint.N.pos-fb
react as they should
Leme scratch my head for a while, this is new for me.
joint.N.motor-pos-cmd
and
joint.N.motor-pos-fb
on the scope they do not move at all while
joint.N.pos-cmd
and
joint.N.pos-fb
react as they should
Leme scratch my head for a while, this is new for me.
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