Traub Bosch cc100 retrofit
08 Feb 2015 01:52 - 08 Feb 2015 02:05 #55794
by andypugh
From the screen shot I it doesn't look like the motors are tuned at all.
But, it is possible that the values in the INI file are not actually being used in the HAL file. Itis entirely possible to put the PID values in the HAL file and not reference the INI file.
Replied by andypugh on topic Traub Bosch cc100 retrofit
I think motors are not tuned right?
From the screen shot I it doesn't look like the motors are tuned at all.
But, it is possible that the values in the INI file are not actually being used in the HAL file. Itis entirely possible to put the PID values in the HAL file and not reference the INI file.
Last edit: 08 Feb 2015 02:05 by andypugh.
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08 Feb 2015 18:12 - 08 Feb 2015 20:15 #55803
by aventtini
Replied by aventtini on topic Traub Bosch cc100 retrofit
i have added the files .
Last edit: 08 Feb 2015 20:15 by andypugh.
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08 Feb 2015 20:14 #55807
by andypugh
The forum doesn't accept .rar files. It does accept HAL and INI files.
I have aded the files to your original post.
Replied by andypugh on topic Traub Bosch cc100 retrofit
i tryed this is the only way it works
The forum doesn't accept .rar files. It does accept HAL and INI files.
I have aded the files to your original post.
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08 Feb 2015 20:40 #55809
by andypugh
Replied by andypugh on topic Traub Bosch cc100 retrofit
It does seem surprising that your machine is working at all, looking at the PID tuning.
Also, the reason that the machine is not as fast as it should be is partly that the PID tuning isn't complete, and partly that the machine limits are set rather low.
If you read this document: www.linuxcnc.org/docs/html/config/ini_config.html it explains what the various parts of the INI file do.
You probably need to change the MAX_VELOCITY in the [TRAJ] section to 300 for X and Y and 250 for Z. You also need to change the values in [DISPLAY] to allow the sliders in Axis to go that high.
Also, it is no good changing [TRAJ] if you don't also change the [AXIS_*] sections too.
I don't know what the peak accelerations are meant to be on your machine, but typically they are about 10x the velocity numbers. But start a bit lower and experiment.
Remove the references to STEPGEN** in the [AXIS] sections. You don't have any stepgens.
Very importantly, change the F-Error numbers. At the moment your machine allows the system to be 1000mm out of position. 1mm is normally too much.
You have
Change that to
While you are PID tuning, and then to
When you are running the machine.
After you have made the INI file changes you can start to tune the PID for the motors.
There is some useful information here:
gnipsel.com/linuxcnc/tuning/index.html
If you are using the Axis GUI then there is a "Calibration" item in the "Machine" menu that allows you to easily change the PIF FF0 FF1 FF2 numbers etc without having to re-start the machine.
Also, the reason that the machine is not as fast as it should be is partly that the PID tuning isn't complete, and partly that the machine limits are set rather low.
If you read this document: www.linuxcnc.org/docs/html/config/ini_config.html it explains what the various parts of the INI file do.
You probably need to change the MAX_VELOCITY in the [TRAJ] section to 300 for X and Y and 250 for Z. You also need to change the values in [DISPLAY] to allow the sliders in Axis to go that high.
Also, it is no good changing [TRAJ] if you don't also change the [AXIS_*] sections too.
I don't know what the peak accelerations are meant to be on your machine, but typically they are about 10x the velocity numbers. But start a bit lower and experiment.
Remove the references to STEPGEN** in the [AXIS] sections. You don't have any stepgens.
Very importantly, change the F-Error numbers. At the moment your machine allows the system to be 1000mm out of position. 1mm is normally too much.
You have
FERROR = 1000.05
MIN_FERROR = 1000.05
Change that to
FERROR = 10
MIN_FERROR = 1
While you are PID tuning, and then to
FERROR = 0.1
MIN_FERROR = 0.05
When you are running the machine.
After you have made the INI file changes you can start to tune the PID for the motors.
There is some useful information here:
gnipsel.com/linuxcnc/tuning/index.html
If you are using the Axis GUI then there is a "Calibration" item in the "Machine" menu that allows you to easily change the PIF FF0 FF1 FF2 numbers etc without having to re-start the machine.
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08 Feb 2015 22:35 #55810
by PCW
Replied by PCW on topic Traub Bosch cc100 retrofit
To re-enforce what Andy said, having reasonable ferror limits is a safety issue!
Please set these lower first
Please set these lower first
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08 Feb 2015 23:33 #55811
by aventtini
Replied by aventtini on topic Traub Bosch cc100 retrofit
I so scared to tune the motors alone
))) I have changed the settings . But from here im really scared . Im still reading the documentation that i have seen 100 times and still scared .
)))) Can i take the belts from the motors out ? Or if i start ajusting whit the settings right i might accelerate tu much and runnaway ?
![:) :)](/media/kunena/emoticons/smile.png)
![:) :)](/media/kunena/emoticons/smile.png)
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08 Feb 2015 23:36 #55812
by andypugh
If you take the belts off then the motor will have the wrong load (no load) and the tuning you do will be very wrong too.
Now that the following-error is set to a sensible value there is no danger of runaway, once it gets more than FERROR from the set-point the machine will stop.
Replied by andypugh on topic Traub Bosch cc100 retrofit
Can i take the belts from the motors out ? Or if i start ajusting whit the settings right i might accelerate tu much and runnaway ?
If you take the belts off then the motor will have the wrong load (no load) and the tuning you do will be very wrong too.
Now that the following-error is set to a sensible value there is no danger of runaway, once it gets more than FERROR from the set-point the machine will stop.
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09 Feb 2015 00:04 #55813
by aventtini
Replied by aventtini on topic Traub Bosch cc100 retrofit
I sent for PID
FERROR = 0.1
MIN_FERROR = 0.05
next home the machine
then open halscope
select the 4 chanels (right ?) thats in the tutorial
then jog the machine and see the aceleration
Its not that clear on the tutorial and i still getting the puzzle .
FERROR = 0.1
MIN_FERROR = 0.05
next home the machine
then open halscope
select the 4 chanels (right ?) thats in the tutorial
then jog the machine and see the aceleration
Its not that clear on the tutorial and i still getting the puzzle .
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09 Feb 2015 00:28 #55814
by aventtini
Replied by aventtini on topic Traub Bosch cc100 retrofit
Sorry for my noobnes
Halscope is only a tool and its only for reading the oscilations of the motors
Then from calibrate you ajust manual the setting .
still not extremly clear but i will test in the morning
Halscope is only a tool and its only for reading the oscilations of the motors
Then from calibrate you ajust manual the setting .
still not extremly clear but i will test in the morning
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10 Feb 2015 00:06 #55835
by aventtini
Replied by aventtini on topic Traub Bosch cc100 retrofit
Andy , i will give the P valute to maximum until de motor oscilates , then i lower untill i get the stifftnes right ? first step , but his the ferror set for tunning
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