Brother TC-225 Retrofit and Robot integration

timfaber wrote: I appreciate all the help I'm getting!!

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

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?

Here's how I wired the motor

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

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!

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?