Servo adjust with encoder feedback

Hi,
I'm trying to connect the feedback from the encoder to a 7i76e. Was not easy but now it works more or less. The problem now is after arrived servo the final position he reverses. I'm programming X200. -> Servo drives with 2m / min to about 200.5 and then slowly back to 200mm. Depends also on the speed and over 4m / min is alarm Joint following error. He is right, too.
The scaling fits and with or without encoder the position is correct at the end. When I turn on PID and I it gets a bit better until the servo begins to vibrate. If I increase the gain of the servo, it is better just not good. Is there something else with which I can adjust on servo and control?
Does anyone have an example configuration of a servo with encoder feedback or had similar problems?
Thanks Christian

Hi,
thanks for the guide but it was more than one problem. I found a parameter in the amplifier: Max encoder scale output. I have set it now equal to the input signal and then started to test with P0. Sometimes luck is with the stupid ones. It runs without vibration noise and overshoot.

Can one still tell me what the max frequency is for the encoder output signal? At the moment I have a resolution of 5μm and measure almost 40Hz at 12m / min rapid feed. The signal is differential A, B. I've read something from 40 Hz but do not know where ...

And last question. My dream would be a homing with Z-phase and parameter shift. This would make it easier to adjust the gantry drive. Otherwise I have to push the reference cam and that is not so accurate.
Does anyone have an example hal and ini section?
Thanks Christian

You are using the spindle encoder on the 7i76e aka high speed encoder? That one handles 10 MHz.
Don't know about the MPG-encoder interface if that's what you are using.

I use the input TB3 pin 7-14 on the 7i76e and tried it on the 7i85s on TB3 1-8. Works well, I am still in the test run. Only drive from X0 -> X200 in rapid traverse and with F1000 m / min back and measure how well the position holds. After about 10-15 minutes, everything is still in tolerance. At 40HZ nothing is lost from the encoder feedback. It would be nice to know what the card can do. I want to prevent a bad surprise later in the gantry operation. Any idea for homing. I have found in the HAL pin joint.0.motor.offset. Unfortunately nothing in the manual. Has one already played around with it?

Hello Tommy,
Of course you are right there are no 40HZ in any case. It 40KHZ
My scaling is: One pulse is 5μ and one motor turn = 5mm. If I turn the servo, the control changes in 5μ steps.
Connection are as follows:
Step + Dir from 7i76e to Amplifier (Delta ASD-B2) =>
Power from the amplifier to the servo (Delta ECMA C20604) =>
Feedback (incremental) from the servo encoder to the amplifier =>
and in the end: feedback from the amplifier to the input encoder on tb3 7i785s. The signal is a difference signal with A, B and Z phase
I have measured once with the hal scope but unfortunately I can read anything on it. First image is at 500mm / min feed and the second with 1m / min. Maybe you can explain that.
Then I took my scope and simply measured between A and / A. Are 24V with a period of 49,6μs at 12m / min rapid feed. 3rd picture. On the top right you can see delta t = 49,6μs
Calculated I have now 1 / 0,00005s = 20000HZ * 2 (A and B phase) = 40KHZ. My mistake I forgot the K
I hope that my idea is not so bad ...
An idea what and how to start with the Z phase?

24V is _way_ too large a signal for a 7I76E or 7I85S encoder input
Both cards expect 5V signals

Ohhh
This is snippet from the manual. And that's exactly how the cables are. Where does the power come from?
+5V and GND are not connect.

OK those _should be_ 5V signals
no power is needed

(the OCZ signal is not used)