Brother TC-225 Retrofit and Robot integration

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04 Apr 2021 17:10 #204785 by PCW
The first 4 PWMgens are enabled by PWMGen enable 0 which affects
analog outs 0..3 on TB3 pins 4,8,12,16

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04 Apr 2021 18:19 #204797 by timfaber

That didn't work for me
timfaber@Brother:~$ sudo apt-get install /mesaflash_3.4.0~pre1-1_amd64.deb

Used this instead, dont know if it did the trick?
timfaber@Brother:~$ sudo dpkg -i ./mesaflash_3.4.0~pre1-1_amd64.deb

Missing . in front of the / in the apt-get line.
Use of dpkg is not advised as it does not check for dependencies in some cases.

Yeah my bad, will try it again soon
I appreciate all the help I'm getting!!:)
The following user(s) said Thank You: tommylight

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06 Apr 2021 00:28 #205007 by andypugh

I appreciate all the help I'm getting!!:)


PCW is the best help, listen to him above all where Mesa cards are concerned

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09 Apr 2021 17:01 #205444 by timfaber
I've managed to connect some limit switches and got them working with linuxcnc, so that really boosted moral :) .
Also starting to understand HAL a bit better, so i also wired up the x axis motor after disconnecting it from the ballscrew. now i've wired it up but when i enable the machine the motor spins and ofcourse i get "axis following error". Now could this be due to some servo setting in the ini file?
Attachments:

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09 Apr 2021 17:03 #205445 by timfaber
Here's how I wired the motor
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09 Apr 2021 17:47 #205452 by PCW
You seem to have lost all the "setp [HMOT](CARD0).pwmgen.XX.offset-mode 1"
statements in the hal file, these are needed for the 7I97.

You can get following errors from tuning. At the minimum I would say the FF1 value is way off
( a value of 1 and an output scale of 10 means its set to give 10V at a commanded velocity of 10mm/second)

A good way to setup the PID is to set the output scale to the maximum velocity at 10V
then a FF1 of 1.0 makes sense

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25 Apr 2021 07:02 - 25 Apr 2021 07:10 #206994 by timfaber
So I managed to reasonably tune the x axis. At least its a starting point :laugh:
Maybe the tuning gods;) have some comments on these initial value. I'll be reading up on the details of tuning the following week.
And made a short video about it!

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Last edit: 25 Apr 2021 07:10 by timfaber.

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01 May 2021 18:57 #207565 by timfaber
So I've connected the limit switches and had a go at tuning the x-axis with the table load on it. It sound pretty clunky at the start and stop of the acceleration. Also i think the following error could be a bit better.
In the pictures the following information can be found: Jog feed, vel-cmd, encoder-vel, f-error(plus value), pid setting.

Any one got some advice on how to get the following error a bit better, increasing P results in oscillations.
And what could be done about the clunky acceleration?

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03 May 2021 09:58 #207713 by andypugh

And what could be done about the clunky acceleration?


You could try reducing the max_accel number.

Or try putting some numbers in the max_error parameters of the PID to limit the pid output at large errors.

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03 May 2021 19:24 #207743 by timfaber
Now would you say this is reasonably tuned? Don't have enough experience to judge if this will result in decent machining performance.

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