PID issues or calibration help

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13 Jan 2019 13:09 #124076 by PCW
Replied by PCW on topic PID issues or calibration help
No 1V RMS on sine/cosine is proper for the 7I49

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13 Jan 2019 13:40 #124082 by hatch789
Could you please look at the zip file I attached in PG 1 or 2 of this thread. I put my driver files in there for you. You may not recall this but you and Andy were working on finishing that driver for me in 2011. I was possibly your first customer to use it. If you look at the beginning of this thread I give a lot of the details.

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13 Jan 2019 14:06 #124085 by PCW
Replied by PCW on topic PID issues or calibration help
Have you updated LinuxCNC? That will give you the latest driver version

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13 Jan 2019 14:11 #124087 by hatch789
yes I update it quite often ...How do I access the latest driver because I think we named mine something non-standard. We called mine SVRM6_48.BIT

What's the correct driver named that would use the 7i43 Anything card with 400k?

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13 Jan 2019 14:21 - 13 Jan 2019 14:21 #124088 by PCW
Replied by PCW on topic PID issues or calibration help
That's the firmware, There have been no changes in the resolver firmware for at least 10 years so I doubt that this is an issue

I think I would first verify that the resolver readout is linear and and accurate with a dial indicator to rule out resolver issues (moving one way to avoid backlash) and then verify that the analog output is working properly as suggested before (unlinking the PID --> PWM connections and manually setting various output voltages and checking with a voltmeter.) Of course this must be done with the drives disabled
Last edit: 13 Jan 2019 14:21 by PCW.

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13 Jan 2019 14:34 #124091 by hatch789
PCW, when I check my vanilla install of LinuxCNC (latest version) I don't show those files "SVRM6*" coming down anywhere. It is not downloading them automatically. And the ones in my live deployment are not downloading or updating to any newer version. I am using "apt update" and "apt upgrade" commands to update my LinuxCNC deployment which appears to be what the documentation states, but maybe I'm missing something. Can you clarify how I should be updating my system and also why I wouldn't see the SVRM6 stuff in my vanilla install?

Also can you give me an example of what you mean by unlinking the PID --> PWM connections and manually setting output voltages? You see my HAL file in pg1 of this thread. If you can get me started with help there I can take it and run all the tests you like with various voltages.

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13 Jan 2019 15:11 - 13 Jan 2019 15:12 #124093 by PCW
Replied by PCW on topic PID issues or calibration help
While linuxcnc is running: (and drives disabled)

halcmd unlinkp hm2_7i43.0.pwmgen.00.value
halcmd setp hm2_7i43.0.pwmgen.00.value 0
halcmd setp hm2_7i43.0.pwmgen.00.value -10
halcmd setp hm2_7i43.0.pwmgen.00.value 10
halcmd setp hm2_7i43.0.pwmgen.00.value -5
halcmd setp hm2_7i43.0.pwmgen.00.value 5
etc

Also noticed a big error in the hal file, the feed forward term which is fundamental to proper velocity mode control is broken by a mis-connection

you should comment out all lines like:

net x-vel-fb => pid.0.command-deriv

# net x-vel-fb => pid.0.command-deriv
Last edit: 13 Jan 2019 15:12 by PCW.

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13 Jan 2019 15:47 - 13 Jan 2019 15:52 #124094 by hatch789
Thank you pcw. This is what I've been worried about all along. No one could really offer any help. With the pcnconf off the table I was kind of at the mercy of learning one little piece at a time. People kept saying just adjust your hal file manually but if you don't know what it should look like, how do I know what to shoot for.

So am I only commenting out my net x-vel-fb & y-vel-fb commands? You said all lines like that but to what extent? There are also net x-pos-fb commands but are these OK?

Is there some way I can check my HAL for errors or red flags?

If I had a good working standard HAL to go off of I'd be OK but my problem all along has been a non-standard HAL and no way to compare to anything. So this is why it's been so hard for me.

Also those various halcmd's ...seems like I should be able to enter them interactively. Right? I'm assuming I do them just under the HAL Configuration under the SHOW tab and the Test HAL Command spot at the bottom.

halcmd unlinkp hm2_7i43.0.pwmgen.00.value
halcmd setp hm2_7i43.0.pwmgen.00.value 0
halcmd setp hm2_7i43.0.pwmgen.00.value -10
halcmd setp hm2_7i43.0.pwmgen.00.value 10
Last edit: 13 Jan 2019 15:52 by hatch789.

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13 Jan 2019 15:58 #124095 by PCW
Replied by PCW on topic PID issues or calibration help
I find it easiest to enter hal commands in a terminal rather than halshow
since you have command line history (up down arrows) so its easy to repeat/edit commands

The only important thing to comment out are the connections to the PID command derivative pins

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13 Jan 2019 16:22 #124096 by hatch789
OK I have commented all 3 of those out for X, Y and even later Z if I ever add that. Does everything else in my HAL file look OK to you?

I just confirmed with a multimeter that the output from my
setp hm2_7i43.0.pwmgen.00.value's are spot on. They're working perfectly which is a relief.

I guess I'll go ahead and retest my machine now since it sounds like this could greatly affect my PID tuning? Maybe... hopefully? -I need some kind of win here.

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