Thanks, PCW.
So if I understand correctly, I need to add a pid-component for X and Z in .hal, something like
Code:
loadrt pid names=pid.x,pid.z
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.x.error-previous-target true
setp pid.x.maxerror .000
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_0]ENCODER_SCALE
# ---closedloop stepper signals---
net x-pos-cmd <= axis.0.motor-pos-cmd
net x-vel-cmd <= axis.0.vel-cmd
net x-output => hm2_5i25.0.stepgen.00.position-cmd
net x-pos-fb <= hm2_5i25.0.encoder.02.position
net x-pos-fb => axis.0.motor-pos-fb
net x-enable <= axis.0.amp-enable-out
net x-enable => hm2_5i25.0.stepgen.00.enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output
with the necessary values in the .ini-file and similar for Z-axis? This example was found at
Closed loop with linear encoders but still backlash?.
Another thing, in [/url]
Encoder Feedback
you said encoder 0 was on the 4i85, while the encoder on 7i76e was encoder 4. I don't know if it is different between 7i76 and 7i76e, but on my 7i76, the encoder is encoder 00.[/url][/code]
