upgraded from 2.5 to 2.6 tuning issues
18 Dec 2014 10:31 #54108
by clkeck1
upgraded from 2.5 to 2.6 tuning issues was created by clkeck1
My mother board bit the dust so I upgraded to an ASUS J1800I which required Wheezy and 2.6
I updated all the 7i64 pins and fired up the machine knowing I had to retune.
The axis were much louder and on the edge of being unstable during jog and homing.
I loaded the tuning repeat program and started to tune. To get the machine stable the P values are 1/4 of what they used to be and the both the motor and plots are very noisy.
I tried setting pins pid.N.error-previous-target back to false like in 2.5 and this impacts the FF1 but everything is still noisy.
Is there something that I'm missing?
I updated all the 7i64 pins and fired up the machine knowing I had to retune.
The axis were much louder and on the edge of being unstable during jog and homing.
I loaded the tuning repeat program and started to tune. To get the machine stable the P values are 1/4 of what they used to be and the both the motor and plots are very noisy.
I tried setting pins pid.N.error-previous-target back to false like in 2.5 and this impacts the FF1 but everything is still noisy.
Is there something that I'm missing?
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18 Dec 2014 10:40 #54109
by clkeck1
Replied by clkeck1 on topic upgraded from 2.5 to 2.6 tuning issues
files attached
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18 Dec 2014 13:07 #54112
by PCW
Replied by PCW on topic upgraded from 2.5 to 2.6 tuning issues
There should be no difference at all between 2.5 and 2.6 tuning wise except for the pid.N.error-previous-target.
There was a bug in muxed encoder firmware where encoder velocity was not calculated properly (scaling was wrong)
this would cause your D term to need to be updated if you used encoder velocity pin for pid.N.feedback-deriv
but your hal file does not seem to use the encoder velocity pins so I dont know whats going on.
You might try connecting/tuning the D term with pid.N.feedback-deriv connected (which should be superior
to the d/dt created velocity used by the PID comp if the pid.N.feedback-deriv is unconnected)
There was a bug in muxed encoder firmware where encoder velocity was not calculated properly (scaling was wrong)
this would cause your D term to need to be updated if you used encoder velocity pin for pid.N.feedback-deriv
but your hal file does not seem to use the encoder velocity pins so I dont know whats going on.
You might try connecting/tuning the D term with pid.N.feedback-deriv connected (which should be superior
to the d/dt created velocity used by the PID comp if the pid.N.feedback-deriv is unconnected)
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18 Dec 2014 21:30 #54128
by clkeck1
Replied by clkeck1 on topic upgraded from 2.5 to 2.6 tuning issues
So just add the following for each axis?
setp pid.N.feedback-deriv hm2_5i23.0.encoder.0N.velocity
setp pid.N.feedback-deriv hm2_5i23.0.encoder.0N.velocity
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18 Dec 2014 21:39 #54129
by clkeck1
Replied by clkeck1 on topic upgraded from 2.5 to 2.6 tuning issues
So just add the following for each axis?
setp pid.N.feedback-deriv hm2_5i23.0.encoder.0N.velocity
setp pid.N.feedback-deriv hm2_5i23.0.encoder.0N.velocity
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19 Dec 2014 00:22 - 19 Dec 2014 00:33 #54135
by PCW
Replied by PCW on topic upgraded from 2.5 to 2.6 tuning issues
if your encoder channels match your PID component numbers it would be like:
setp pid.0.feedback-deriv hm2_5i23.0.encoder.0.velocity
setp pid.1.feedback-deriv hm2_5i23.0.encoder.1.velocity
setp pid.2.feedback-deriv hm2_5i23.0.encoder.2.velocity
setp pid.0.feedback-deriv hm2_5i23.0.encoder.0.velocity
setp pid.1.feedback-deriv hm2_5i23.0.encoder.1.velocity
setp pid.2.feedback-deriv hm2_5i23.0.encoder.2.velocity
Last edit: 19 Dec 2014 00:33 by PCW.
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19 Dec 2014 00:41 #54136
by clkeck1
Replied by clkeck1 on topic upgraded from 2.5 to 2.6 tuning issues
Ok I will give it a try later today
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19 Dec 2014 03:42 #54145
by clkeck1
Replied by clkeck1 on topic upgraded from 2.5 to 2.6 tuning issues
net motor.02.vel-fb hm2_5i23.0.encoder.02.velocity => pid.2.feedback-deriv
added the above line to the hal file.
no help any other ideas?
was there maybe a filter change on the 7i48?
added the above line to the hal file.
no help any other ideas?
was there maybe a filter change on the 7i48?
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19 Dec 2014 03:55 - 19 Dec 2014 03:58 #54146
by PCW
Replied by PCW on topic upgraded from 2.5 to 2.6 tuning issues
The 7I48 filters are hardware so other than component failure should stay the same
I would not expect _any_ tuning change going from 2.5 to 2.6 other that needing to set pid.N.error-previous-target. false
maybe something else in your system changed
Note that on the axis you showed in the HALScope plot you have no D term (while the other axis have significant D term)
net motor.02.vel-fb hm2_5i23.0.encoder.02.velocity => pid.2.feedback-deriv
will have no effect unless you have some D term
I would not expect _any_ tuning change going from 2.5 to 2.6 other that needing to set pid.N.error-previous-target. false
maybe something else in your system changed
Note that on the axis you showed in the HALScope plot you have no D term (while the other axis have significant D term)
net motor.02.vel-fb hm2_5i23.0.encoder.02.velocity => pid.2.feedback-deriv
will have no effect unless you have some D term
Last edit: 19 Dec 2014 03:58 by PCW.
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19 Dec 2014 04:22 #54147
by clkeck1
Replied by clkeck1 on topic upgraded from 2.5 to 2.6 tuning issues
I tried D from .001 up to 1 and it doesn't change the amplitude of the noise I started with the Z axis because it was acting the worst.
I even tried switching the 7i48 over to cable power to isolate it from the machine power supply and put it on the computer power supply.
The plot shows a constant 300IPM move and as expected when PID output (pink) is high F-error (red) is also high. and when one is low so is the other.
What can be causing this?
I even tried switching the 7i48 over to cable power to isolate it from the machine power supply and put it on the computer power supply.
The plot shows a constant 300IPM move and as expected when PID output (pink) is high F-error (red) is also high. and when one is low so is the other.
What can be causing this?
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