Hello
I have a problem to get my rotary axis to run.
I use a 5i25 with a 7i76. The stepper is connected with a pulley (ratio 1:6). On the other end of the stepper shaft is a Nanotec Encoder (WEDL5541B with 1000 CPR see here:
en.nanotec.com/products/186-wedswedl-55413-channel-encoder/
) directly fitted and connected to the 7i76 Encoder input (TB3 PIN 7-14).
HAL
Code:
#*******************
# AXIS A
#*******************
setp pid.a.Pgain [AXIS_3]P
setp pid.a.Igain [AXIS_3]I
setp pid.a.Dgain [AXIS_3]D
setp pid.a.bias [AXIS_3]BIAS
setp pid.a.FF0 [AXIS_3]FF0
setp pid.a.FF1 [AXIS_3]FF1
setp pid.a.FF2 [AXIS_3]FF2
setp pid.a.deadband [AXIS_3]DEADBAND
setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
setp pid.a.error-previous-target true
setp pid.a.maxerror 0
net a-index-enable <=> pid.a.index-enable
net a-enable => pid.a.enable
net a-pos-cmd => pid.a.command
net a-vel-cmd => pid.a.command-deriv
net a-pos-fb => pid.a.feedback
net a-output => pid.a.output
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP
setp hm2_5i25.0.stepgen.03.dirhold [AXIS_3]DIRHOLD
setp hm2_5i25.0.stepgen.03.steplen [AXIS_3]STEPLEN
setp hm2_5i25.0.stepgen.03.stepspace [AXIS_3]STEPSPACE
setp hm2_5i25.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE
setp hm2_5i25.0.stepgen.03.step_type 0
setp hm2_5i25.0.stepgen.03.control-type 1
setp hm2_5i25.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net a-pos-cmd <= axis.3.motor-pos-cmd
net a-vel-cmd <= axis.3.joint-vel-cmd
net a-output <= hm2_5i25.0.stepgen.03.velocity-cmd
#net a-pos-fb <= hm2_5i25.0.stepgen.03.position-fb
net a-pos-fb => axis.3.motor-pos-fb
net a-enable <= axis.3.amp-enable-out
net a-enable => hm2_5i25.0.stepgen.03.enable
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale [AXIS_3]ENCODER_SCALE
net a-pos-fb <= hm2_5i25.0.encoder.00.position
net a-vel-fb <= hm2_5i25.0.encoder.00.velocity
net a-pos-fb => axis.3.motor-pos-fb
net a-index-enable axis.3.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net a-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
INI
Code:
#********************
# Axis A
#********************
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 10
MIN_FERROR = 1
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 360.0
# 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 = 450.00
STEPGEN_MAXACCEL = 450.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
ENCODER_SCALE = -66.6666
# these are in nanoseconds
DIRSETUP = 2500
DIRHOLD = 2500
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 33.3333
MIN_LIMIT = -999900.0
MAX_LIMIT = 999900.0
HOME_OFFSET = 0.0
My problem is that the stepper is flickering at the end of the position command and I don't know why and what setting can be useful to change.
I have uploaded a video to demonstrate:
Hope you understand my problem and have a idea for me.
Greetings
Marc
