2.7 -Servo tuning
07 Oct 2015 21:03 #63543
by Diederik
2.7 -Servo tuning was created by Diederik
Hi,
I would just like to report that the servo tuning that is available when linuxcnc is running, cannot upload new PID settings onto the files when clicking on "save to file"
we had this problem before, then it was fixed. 2.6 was still working.
I would just like to report that the servo tuning that is available when linuxcnc is running, cannot upload new PID settings onto the files when clicking on "save to file"
we had this problem before, then it was fixed. 2.6 was still working.
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07 Oct 2015 21:35 #63545
by jschulze
Replied by jschulze on topic 2.7 -Servo tuning
Not sure if I have something setup differently on my machine, but it does work for me.
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- Todd Zuercher
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07 Oct 2015 22:48 #63549
by Todd Zuercher
Replied by Todd Zuercher on topic 2.7 -Servo tuning
It is working on the machines I'm using. (used it yesterday to make some PID adjustments.)
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08 Oct 2015 00:41 #63552
by PCW
Replied by PCW on topic 2.7 -Servo tuning
This can be ini file related
Does calibrates "Save to file" button generate any error messages?
Does calibrates "Save to file" button generate any error messages?
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08 Oct 2015 15:04 #63562
by Diederik
Replied by Diederik on topic Mesa-7i77Isol, and 2.7 -Servo tuning/calibration-
Yes. save to file gives error
can't read "sectionarray(AXIS_1)": no such element in array
can't read "sectionarray(AXIS_1)": no such element in array
while executing
"set sectionarray($sectname)"
(procedure "saveIni" line 21)
invoked from within
"saveIni tune"
invoked from within
".main.bot.save invoke"
("uplevel" body line 1)
invoked from within
"uplevel #0
can't read "sectionarray(AXIS_1)": no such element in array
can't read "sectionarray(AXIS_1)": no such element in array
while executing
"set sectionarray($sectname)"
(procedure "saveIni" line 21)
invoked from within
"saveIni tune"
invoked from within
".main.bot.save invoke"
("uplevel" body line 1)
invoked from within
"uplevel #0
-
"
(procedure "tk::ButtonUp" line 22)
invoked from within
"tk::ButtonUp .main.bot.save"
(command bound to event)
I created these files with PNCConf, so possibly something in PNCConf.
My knowledge about the software behind Servo Tuning/Calibration is limited, Please find attatched.
Also, I have the 7i77isol, which apparently requires a hm2_7i77..._encoderScew/Encoder sample frequency setting. I tried adding the pins as suggested in the 7i77isol documentation, but this does not get accepted.
Please see my .hal file, and if anyone can pick up something that I am doing wrong.
As explained to Peter over E-mail, My distance from 6i25=> 7i77isol is approximately 14 feet.
I have tried thinking of ways to shorten the cable, but this route seems to be the only possibility.
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08 Oct 2015 16:04 #63563
by Diederik
I added dummy parameters for (Axis_1) and now "save to file" works.
so Possibly the pncconf is setting wrong parameters? Not sure.
Find attached .ini file
Replied by Diederik on topic Mesa-7i77Isol, and 2.7 -Servo tuning/calibration-
I added dummy parameters for (Axis_1) and now "save to file" works.
so Possibly the pncconf is setting wrong parameters? Not sure.
Find attached .ini file
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08 Oct 2015 18:27 #63566
by cncbasher
Replied by cncbasher on topic Mesa-7i77Isol, and 2.7 -Servo tuning/calibration-
i'm running my machine over 5 m without any problems with a 5i25 / 7i77
i have attached a hal and ini if it helps
i have attached a hal and ini if it helps
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- Todd Zuercher
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08 Oct 2015 19:43 #63570
by Todd Zuercher
Replied by Todd Zuercher on topic Mesa-7i77Isol, and 2.7 -Servo tuning/calibration-
Unfortunately Linuxcnc doesn't deal well with missing [AXIS_n]. (at least not yet, this might get fixed in the next release or 2 if the joints-axis branch gets incorporated)
You don't need all of the [AXIS_1] parameter info all you need to add to your config is the [AXIS_1] header as a place holder like this.
I have a 4 axis machine that has a W axis, and I have to configure it almost like it has 9 axis with the [AXIS_n] place holders for 3-7 (W has to be axis 8). This works on my configuration. If it doesn't work for you then it sounds like a bug to me. (Actually it still sounds like a PNC-Config bug.)
You don't need all of the [AXIS_1] parameter info all you need to add to your config is the [AXIS_1] header as a place holder like this.
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.05
MIN_FERROR = 0.0005
MAX_VELOCITY = 6.0
MAX_ACCELERATION = 6.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 2.1
STEPGEN_MAXACCEL = 2.5
P = 1.0
I = 0
D = 0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.000
DEADBAND = 0.000015
MAX_OUTPUT = 10.0
ENCODER_SCALE =1000.0
OUTPUT_SCALE = 10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -3.00
MAX_LIMIT = 700.00
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1
HOME_LATCH_VEL = 0.5
HOME_FINAL_VEL = 1
HOME_USE_INDEX = yes
HOME_SEQUENCE = 1
[AXIS_1]
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 4.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 2.1
STEPGEN_MAXACCEL = 2.5
P = 1.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.000015
MAX_OUTPUT = 10.0
ENCODER_SCALE = 2000.0
OUTPUT_SCALE = 10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -3.00
MAX_LIMIT = 400.00
HOME_OFFSET = 0
HOME_SEARCH_VEL = -1
HOME_LATCH_VEL = 0.5
HOME_FINAL_VEL = 1
HOME_USE_INDEX = yes
HOME_SEQUENCE = 0I have a 4 axis machine that has a W axis, and I have to configure it almost like it has 9 axis with the [AXIS_n] place holders for 3-7 (W has to be axis 8). This works on my configuration. If it doesn't work for you then it sounds like a bug to me. (Actually it still sounds like a PNC-Config bug.)
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08 Oct 2015 20:21 #63571
by Diederik
Replied by Diederik on topic Mesa-7i77Isol, and 2.7 -Servo tuning/calibration-
Thank you very much. will help, for peace of mind... now... just how to do the encoder sample frequency, and encoder muxed scew settings.
If anyone has done this, I would appreciate a sample file. first time that I am using a 7i77isol. I just tried excluding the 7i77isol, and seems fine, but will still bug me in future. I brought 5 of these, and need to know how to use them correctly...
Thanks for everyone's interest and support so far.
will help, for peace of mind... now... just how to do the encoder sample frequency, and encoder muxed scew settings.If anyone has done this, I would appreciate a sample file. first time that I am using a 7i77isol. I just tried excluding the 7i77isol, and seems fine, but will still bug me in future. I brought 5 of these, and need to know how to use them correctly...
Thanks for everyone's interest and support so far.
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08 Oct 2015 21:01 #63573
by PCW
Replied by PCW on topic Mesa-7i77Isol, and 2.7 -Servo tuning/calibration-
The muxed encoder sample frequency is a global ( for all muxed encoders ) pin.
If you are using the isolator _and_ a long cable, its likely you will need to set this lower than the default
I believe this is only available in linuxcnc 2.7
The muxed encoder skew adjustment is only available with the rev4 muxed encoder
module. This requires different firmware (and LinuxCNC 2.7), the firmware has a "mev4"
in its name to signify that it contains the muxed encoder Rev 4 firmware
These are the available 5I25/7I77 configs that have Rev 4 muxed encoder firmware
5i25_7i74_7i77mev4.bit
5i25_7i76_7i77mev4.bit
5i25_7i77_7i74mev4.bit
5i25_7i77_7i76mev4.bit
5i25_7i77_7i78mev4.bit
5i25_7i77_7i85SPmev4.bit
5i25_7i77_7i85Smev4.bit
5i25_7i77x1IMSmev4.bit
5i25_7i77x2Rmev4.bit
5i25_7i77x2mev4.bit
If you are using the isolator _and_ a long cable, its likely you will need to set this lower than the default
I believe this is only available in linuxcnc 2.7
The muxed encoder skew adjustment is only available with the rev4 muxed encoder
module. This requires different firmware (and LinuxCNC 2.7), the firmware has a "mev4"
in its name to signify that it contains the muxed encoder Rev 4 firmware
These are the available 5I25/7I77 configs that have Rev 4 muxed encoder firmware
5i25_7i74_7i77mev4.bit
5i25_7i76_7i77mev4.bit
5i25_7i77_7i74mev4.bit
5i25_7i77_7i76mev4.bit
5i25_7i77_7i78mev4.bit
5i25_7i77_7i85SPmev4.bit
5i25_7i77_7i85Smev4.bit
5i25_7i77x1IMSmev4.bit
5i25_7i77x2Rmev4.bit
5i25_7i77x2mev4.bit
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