ASD-A2 EtherCAT on LinuxCNC

The velocity scaling would have no relation to voltage, I would expect the default
scaling is in RPM or RPS, but that is just a guess. Doesn't the drive manual specify the velocity scaling?

I'm not sure I know what information to look for.
I'm looking for it here:
When you have a moment, please take a look at it?
Very Thanks

Velocity is specified in units of 0.1 RPM ( operation manual page 6-15 )

Thank you for the info.
I found something similar on page 5-8 but I didn't know how to use this value in the calculation.

I probably won't delay you anymore and I'll try to tune it again tomorrow.
I'll write if I succeeded.
Thank you so much for your time.
Jirka

Obviously I'm doing something wrong or I didn't understand the tuning process.
FERROR = 100
MIN_FERROR = 100
P = 5
DEADBAND = 0.0001
MAX_OUTPUT = 230
The rest = 0
I set FF1 to 0.1; 0.2; 0.3; 0.5; 0.8; 1.0; 10; 20; 30; 50; 100; 150 and no change to the "joint.0.f-error" curve.
Each time I click on the cursor left or right (do not hold), the "joint.0.f-error" changes by about 2mm and returns to zero for 30 seconds.
Ends with "joint.0.f-error" = 0.42mm.

Can you please advise me what he's doing wrong?
Thank you very much.

Hi @Jirkam
I work in speed mode with ethercat servo drive,
It depends on how you have configured the speed mode in the drive., in the DELTA manual I see that for a 3000 rpm motor you need to enter a command of 30,000, then you would have to try maximum engine speed for checking average engine speed for checking

Now let's configure the PID
P = 1
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
DEBAND = 0
MAX_OUTPUT 30000

Now it has to work


Now adjust P until it starts to vibrate and lower it a little, my house is around 200

then surely you lack acceleration
configure the parameters
P1-34
P1-35

I hope I helped you

Cheers
Chimeno