Biesse Rover 336 retrofit 5i23-7i44-7i66 and 7i33TA
- Sytreca
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22 Oct 2018 10:29 - 22 Oct 2018 10:32 #119196
by Sytreca
Replied by Sytreca on topic Biesse Rover 336 retrofit 5i23-7i44-7i66 and 7i33TA
We think it might be the feedback is backwards. How do we change this?
Last edit: 22 Oct 2018 10:32 by Sytreca.
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- andypugh
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22 Oct 2018 10:43 #119197
by andypugh
Replied by andypugh on topic Biesse Rover 336 retrofit 5i23-7i44-7i66 and 7i33TA
Just change the sign of the encoder feedback scale.
If that leaves the axis running the wrong direction, change the encoder scale back and change the sign of the PWM scale.
If that leaves the axis running the wrong direction, change the encoder scale back and change the sign of the PWM scale.
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22 Oct 2018 10:56 #119199
by Sytreca
Replied by Sytreca on topic Biesse Rover 336 retrofit 5i23-7i44-7i66 and 7i33TA
We tried both of these things but the motor just starts up, turns rapidly and the machine shuts down completely
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22 Oct 2018 11:31 #119201
by andypugh
Replied by andypugh on topic Biesse Rover 336 retrofit 5i23-7i44-7i66 and 7i33TA
Is the motor connected to the axis? (It is probably best if it isn't at this point)
At a guess the system shuts down through following-error?
Is your PID active? How is it tuned? I am assuming velocity-mode servos here (I haven't read back through the previous messages). If that is the case, are the tachos working? Perhaps the tachos and motors have different polarity?
At a guess the system shuts down through following-error?
Is your PID active? How is it tuned? I am assuming velocity-mode servos here (I haven't read back through the previous messages). If that is the case, are the tachos working? Perhaps the tachos and motors have different polarity?
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- Eliot60
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22 Oct 2018 11:45 #119202
by Eliot60
Replied by Eliot60 on topic Biesse Rover 336 retrofit 5i23-7i44-7i66 and 7i33TA
The axis is not connected at this time
The system does shut down with a joint 1 following error
Right now we have a P=1 with I and D zero and ff1 is 0.00000001 these settings do work on a servo of a diffrent Axis (way smaller Axis) on the machine. The servo motors are controlled through yaskawa servo packs where we send out drive signal and receive encoder feedback
The system does shut down with a joint 1 following error
Right now we have a P=1 with I and D zero and ff1 is 0.00000001 these settings do work on a servo of a diffrent Axis (way smaller Axis) on the machine. The servo motors are controlled through yaskawa servo packs where we send out drive signal and receive encoder feedback
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- Sytreca
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22 Oct 2018 12:16 #119204
by Sytreca
Replied by Sytreca on topic Biesse Rover 336 retrofit 5i23-7i44-7i66 and 7i33TA
We did manage to make it work. We started with P on 1. Apparently this was way to high. We fixed it by changing P to 0.01
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08 Nov 2018 10:42 #120246
by Sytreca
Replied by Sytreca on topic Biesse Rover 336 retrofit 5i23-7i44-7i66 and 7i33TA
Hey me again
we have made some good progress. now we want to home the machine. for each axis we have a different home switch. we try to use these home switches but when we put the different inputs at the home linuxcnc does'nt boot.
Is there a way to make this work?
kind regards
we have made some good progress. now we want to home the machine. for each axis we have a different home switch. we try to use these home switches but when we put the different inputs at the home linuxcnc does'nt boot.
Is there a way to make this work?
kind regards
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- tommylight
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08 Nov 2018 14:21 #120264
by tommylight
Replied by tommylight on topic Biesse Rover 336 retrofit 5i23-7i44-7i66 and 7i33TA
Yes there is and it works, always, but wee need much more information about the machine, wiring, hal and ini files etc.
Just went through this thread and noticed some issues, namely the PID values are way off. That means something in your ini/hal files is set up incorrectly or wiring is not properly done.
I did set up Yaskawa drives and they are very easy to tune with Linuxcnc ( about 5 minutes for 3 axis ).
Feedback from the encoders should go to the drives, drives have outputs that go to Linuxcnc. the loop has to be closed at the drive first, then Linuxcnc, otherwise the drive will not function properly.
This post took 3 hours to write !
Just went through this thread and noticed some issues, namely the PID values are way off. That means something in your ini/hal files is set up incorrectly or wiring is not properly done.
I did set up Yaskawa drives and they are very easy to tune with Linuxcnc ( about 5 minutes for 3 axis ).
Feedback from the encoders should go to the drives, drives have outputs that go to Linuxcnc. the loop has to be closed at the drive first, then Linuxcnc, otherwise the drive will not function properly.
This post took 3 hours to write !
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- Naas
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22 Dec 2018 08:23 #122745
by Naas
Replied by Naas on topic Biesse Rover 336 retrofit 5i23-7i44-7i66 and 7i33TA
OK, so now its my turn to continue this project.
This is my machine, but Eliot60 and Sytreca did most of the work so far as a school assignment.
Status of the machine so far:
XYZ axis running and tuned
Homing procedure implemented
spindle control working
all i/o connected
Needless to say i am very happy with the progress we've made so far.
Now i want to implement all the I/O operations (there are a lot of them on these machines).
Do i need to make a choice between classicladder and python, or are there some things where there is only one possibility?
How does all this tie in with the GUI and G-code?
This is my machine, but Eliot60 and Sytreca did most of the work so far as a school assignment.
Status of the machine so far:
XYZ axis running and tuned
Homing procedure implemented
spindle control working
all i/o connected
Needless to say i am very happy with the progress we've made so far.
Now i want to implement all the I/O operations (there are a lot of them on these machines).
Do i need to make a choice between classicladder and python, or are there some things where there is only one possibility?
How does all this tie in with the GUI and G-code?
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22 Dec 2018 14:03 #122748
by tommylight
Preferably in hal, as much as possible.
Using PyVCP is a nice choice.
Just my way of doing things.
Replied by tommylight on topic Biesse Rover 336 retrofit 5i23-7i44-7i66 and 7i33TA
Now i want to implement all the I/O operations (there are a lot of them on these machines).
Do i need to make a choice between classicladder and python, or are there some things where there is only one possibility?
How does all this tie in with the GUI and G-code?
Preferably in hal, as much as possible.
Using PyVCP is a nice choice.
Just my way of doing things.
Please Log in or Create an account to join the conversation.
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