Monarch MDT-24 Retrofit (Sharp SV-2412 w/ Fanuc 0i-MC)

Oh ok. I thought the output scale was supposed to be the RPM at 10V, so that's what I have done. Is it fine to leave it there or should I fix the whole thing?

I just fixed the overshoot. It only happened in X and Y since the acceleration was way too high (100). I changed it down to 50 and the overshoot is basically non-existent!

Thank you very much for all your help and quick responses!

You can leave the scaling or change it back to volts, of course you will have to re-tune ( or re-calculate )
the PID parameters after this change

My preference is to change the scaling to real velocity units, that is, the output scale is set to
machine units per second at 10V

This means FF1=~1 ( that is if the PID output is in machine units per second, FF1 =1 just copies
the commanded velocity to the PID output )

This also makes it easier for me to understand the PID tuning parameters and makes inch and mm machines
use the same PID parameters

I totally missed the boat on that one with the 2000. I was thinking in terms of RPM (similar to spindle). Ok, so at like 800IPM, the output scale should be around 13 or so. I'll change one of the axis and see what it will do as far as the PID/FF

Well that seems to look better. P 35, FF1 0.205, FF2 0.008!

Axis 0 Tune Better!

This is a really clean conversion, great job! If you don't mind, I'd be interested to know how you interfaced the linux box with the drives. I am assuming your Fanuc hardware is not using the optical link, but if you found a way to make this work, it would be extremely relevant to my interests.
Thanks!

Thank you!
This machine has been working pretty good and I have been using it for production since.
Here is the details to connect the Fanuc to Linuxcnc. These are the Alpha series Fanuc circa year 2005:

- Elmo Cornet Servo drives - Elmo customer support has been great. Even though I bought these used, they have gone way beyond what I was expecting to help me have get it all working
- Pico Systems Fanuc Serial encoder converters - Jon has been amazing with support and the quick responses. I just don't have enough good things to say about him!
- 7i48 servo interface

To be honest if the budget is there, it is potentially better to just switch the servo drives to something aftermarket that comes with the servo and drive. That way tuning the servos will be much simpler. I have got two bigger machines since and this machine still does smaller parts. Let me know if you have any specific questions. Again Jon from PICO Systems is super knowledgeable and very helpful and makes great products. This would have not been possible without his help (his website: pico-systems.com/osc2.5/catalog/index.php )