Maho MH-C 700P Achsen bewegen sich dauerhaft Indramat 3TRM2 

Are the motor tachometers connected to the drives?
This is necessary for velocity mode drives to work properly.

Hello, thank you very much for the feedback.

I did not change the original wiring of the servo motors to the Indramat 3TRM2. A tachometer signal is connected for each axis. I connected my 7i77according to the attached circuit diagram.

 

Hello, thank you very much for your feedback so far.
As I have already described, I am unfortunately not making any progress in commissioning the axes.

If the axes or the axis amplifier are switched on without +-10V from the 7i77, the axes stand absolutely still and I cannot move them manually because I have to work against the servo motor.
So far, that's actually quite good.
On the /i77, there is a voltage of 1.5mV for the first axis on TB5 (3+4). As soon as I connect the 7i77 to the Indramat, the axis starts to move or oscillate very slowly. If I set DEADBAND to 2.0mm in the axis calibration, the axis moves in one direction with the 7i77 connected. Unfortunately, I cannot get it to stop with BIAS.
The Indramat has remained completely unchanged apart from the connections E101 and E102 that I used. I have only tried to bring the axes to a standstill using the zero point adjustment. What is very surprising is that it seems as if the axis never reaches its pos command.
When I look at the values ​​in the HAL, x-pos-fb never reaches the value x-pos-cmd and not only within the set DEADBAND. Unfortunately I don't know what to do anymore,
've already tried measuring everything and reading all the forums for days, unfortunately without success. I'm grateful for any help. The 7i77 could possibly be defective, the error occurs on all axes. I checked the encoder scale and it fits exactly.




Hallo, vielen Dank bisher für eure Rückmeldung.
Wie schon beschrieben komme ich leider bei der Inbetriebnahme der Achsen nicht weiter.  Wenn die Achsen bzw. der Achsverstärker ohne +-10V von der 7i77 angeschaltet werden, stehen die Achsen absolut still und ich kann sie manuell nicht bewegen da ich gegen den Servomotor arbeiten muss.
Soviel eigentlich ganz gut. An der /i77 liegen für die erste Achse an TB5 (3+4) 1,5mV Spannung an. Sobald ich die 7i77 mit dem Indramat verbinde fängt die Achse an zu wandern bzw. ganz langsam zu oszilieren.
Wenn ich in der Achskalibrierung DEADBAND auf 2,0mm stelle wandert die Achse mit angesteckter 7i77 in eine Richtung. Mit BIAS bekomme ich sie leider nicht zum Stillstand. Der Indramat ist bis auf die von mir verwendtetn Anschlüsse  E101 und E102 komplett unverändert geblieben. Lediglich habe ich über die Nullpunktverstellug versucht die Achsen zum Stillstand zu bekommen.
Was sehr verwunderlich ist, es scheint als ob die Achse nie an ihren Pos-Command kommt. Wenn ich die Werte in der Hal anschaue erreicht x-pos-fb nie den Wert x-pos-cmd und nicht nur innerhalb des eingestellten DEADBAND. Ich weiß mir leider keinen Rat mehr, hab jetzt schon Tgae mit allen Dingen versucht zu messen und in allen Foren zu lesen, leider ohne Erfolg. Ich bin für jede Hilfe dankbar.  Kann eventuell die 7i77 defekt sein, Fehler tritt bei allen Achsen auf. Encoder Scale hab ich geprüft, dieser passt genau. 

Hello, thank you very much for the link. I have already read these instructions and followed them. Before I adjusted the pots of the Indramant I had the same problem with the axles.
I can now use the pots to slowly rotate the axis in one direction without connecting the 7i77. As soon as I connect the 7i77 again, the axis slowly oscillates back and forth. Even if I calibrated the axis according to the link sent.

Is it possible that the internal regulations of the Indramat conflict with the regulations from the 7i77?

Actually, the axis should not carry out any control at all when the deadband is increased

Slow drift when the drives are enabled and there is no feedback is expected and harmless
Do the encoders work and are they scaled properly?


Can you post you current hal and ini files?

If you disconnect the motor drive power, you should be able to enable LinuxCNC
and then manually rotate the motor shafts while measuring the 7I77 analog outputs
to verify that you get the expected analog feedback voltage from the 7I77, that is,
a voltage that's close to 0 when started and varies + and- as you move the motor shaft
back and forth  from its starting position.

 

Hello, the encoders are running and are scaled accordingly. I can also move the axes and thus move in the F-Error range of 0.1-0.05mm when the axes move. 
The only time I can't get the axles to come to a standstill is when I'm stationary.
In my Aciera milling machine, which I converted years ago, the axes also oscillate a bit when stationary in the range of 0.01-0.005mm, but I have at least calibrated them to run in the F-Error range of 0.002 and better. 
What always surprises me is that the pos-cmd value seems to never be reached and therefore there is always a cycling even though I am above the deviation via deadband.

Attached is my Hal and Ini file

I am grateful for any help.

I'll measure the mentioned voltages from the 7i77 tomorrow. I assume that these are available otherwise I wouldn't be able to move the axes via jog.

Hello and thank you for the information. I'll try to calibrate the axes a little more precisely this evening. As already mentioned, I spent a lot of time calibrating it, maybe I'm going the wrong way. I'll check out the link forum.linuxcnc.org/10-advanced-configura...ning-detailed-how-to

watch again, maybe I've done something wrong so far.
Is there an autotuning option?