Elumatec SBZ 130/01 retrofit

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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
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.

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23 Jan 2017 18:47 #86501 by tommylight
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
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 !!! :)

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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
The following user(s) said Thank You: tommylight

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23 Jan 2017 20:19 #86508 by tommylight
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.

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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
Last edit: 23 Jan 2017 20:28 by PCW.
The following user(s) said Thank You: tommylight

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23 Jan 2017 20:47 #86512 by tommylight
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.

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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
The following user(s) said Thank You: tommylight

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23 Jan 2017 21:04 #86514 by tommylight
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.

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