ASD-A2 EtherCAT on LinuxCNC

As far as i know, FF1 can not be over 1.
I might be wrong though as i never checked, but i also never needed to go over it to tune a servo system.

Hi @chimeno
Replenishment.
I forgot to change one parameter in the .ini.
MAX_ACCELERATION = 1500.0
This is how the curve changed.

Thanks jirka

I do not know. But that's how it works out for me.

Thanks jirka

Hello.
Wouldn't it be better for me to switch from speed control to position control?

(I'm afraid someone will say yes, and I won't know how to do it. :blush: )

Thanks jirka

Hello @jirkam,
sorry for taking the time to answer, the speed control problem that you first have to adjust in the drive configuration so that it works at the speed and acceleration you need in the machine and then finish adjusting in linuxcnc, if you want you can try this configuration if you notice any improvement,

P =150
I =0
D = 0.1
BIAS = 0
FF0 = 0
FF1 = 0.98
FF2 = 0
DEADBAND 0.00001


pass the position control I think it does a lot of people and not difficult, you will have to use the generic controller and change the PDO for the position ones and configure the position mode, you will also have to configure the speed and acceleration in the drive.

greeting
Chimeno

@tommylight
I found that "I" depends on the output resolution of the ASD-A2.
Here is a table of test settings.



The result is almost the same. Only when the resolution of the ASD-A2 is higher is it very difficult to set and the system is then unstable after 5 minutes of milling.
For pictures, watch only the "joint.0.f-error" - light color curve.