Delta comunication issue

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07 Oct 2021 12:46 - 07 Oct 2021 12:47 #222451 by fehim
hello all
I have been developing a wood drilling machine with Linuxcnc and I am using delta asda-a2 servo drivers and motors. My servo xml file attached below and I have a problem like in the video. these servos making noise in a short period of time and I have no Idea why. With Mitsubishi motors and drivers I had no problem. Do you have any idea?

Thank you

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Last edit: 07 Oct 2021 12:47 by fehim.

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07 Oct 2021 13:38 #222453 by db1981
Replied by db1981 on topic Delta comunication issue
Hello,

are your shure this problem is ethercat related?

at first, set the ethercat debug level to 1 "ethercat debug 1" and look in dmesg if there are any ethercat errors .

Which linuxcnc version do you use? RIP or installed? What type of network card?

try if your config starts with refClockSyncCycles="-1", this will sync lcnc pll to the clock given by the first slave.... .

and please post your hal file, maybe there is an error in the execution order.
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07 Oct 2021 14:41 #222461 by fehim
Replied by fehim on topic Delta comunication issue
Here is my hal files

Our linuxcnc version is 2.8.0 installed. Ethercat card mean "hardware"?

Our refClockSyncCycles="1000000" in xml file. do you say it should be?

thank you
 
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07 Oct 2021 16:51 #222471 by db1981
Replied by db1981 on topic Delta comunication issue
hal files are okay...

try to set refClockSyncCycles="-1" in your xml.

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07 Oct 2021 17:48 #222475 by db1981
Replied by db1981 on topic Delta comunication issue
did you set the following parameters correct in the servo drive ?

-0x60C2:01 = 0x01 (interpolation time period 1ms)
-0x60C2:02 = 0xFD (interpoltatin time index 253)
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08 Oct 2021 06:12 - 08 Oct 2021 06:32 #222522 by fehim
Replied by fehim on topic Delta comunication issue
We set refClockSyncCycles="-1" in our xml and didnt work
I think our 0x60C2:02 parameter is not correct according to picture.
right?
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Last edit: 08 Oct 2021 06:32 by fehim.

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08 Oct 2021 10:36 #222540 by db1981
Replied by db1981 on topic Delta comunication issue
Hello,

the values are correct.

Did you checked with halscope that this behaviuer is not related by the joint.pos.cmd?
Is this signal clean? If not, it could still be an hal/ini problem. Is Trivkins used or an special kinematic?.

How did you get the etherlabmaster and linuxcnc-ethercat? ec-debianize or one of the images that i don't know?

Last way to check, would be to change the pll clock.
for that you have to install an rip version, and then apply the "add-task-pll-functions.patch" from the patches folder in linuxcnc-ethercat.

After this you can set refclocksynccycles to -1 and sync the linuxcnc task to the ethercat clock.
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20 Oct 2021 06:09 #223632 by serdigi
Replied by serdigi on topic Delta comunication issue
Merhaba Fehim.İyi çalışmalar dilerim.Bende aynı dertten müzdaribim.PLL yaması vs hepsini yaptım.Anlatıldığı gibi -1 de'yaptım.Sorunu çözmedim.Senden ricam çözdüysen tecrübeni paylaşman.Teşekkür ederim.

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11 Nov 2021 07:38 #226071 by fehim
Replied by fehim on topic Delta comunication issue
Hello
I was used generic driver before. Then I decided to change as delta driver called "deASDA". You can easily reach on the internet. With PID configuration, it is running now without noise.

ayıp olmasın diye ingilizce yazdım anlayamazsan mesaj olarak yazabilirsin

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11 Nov 2021 07:46 - 11 Nov 2021 07:48 #226072 by serdigi
Replied by serdigi on topic Delta comunication issue
Hello Fehim;

Thanks for taking the time to reply.

I did the pll patch and other apps. I have no issues with these.
I just wanted to know how you set the pid parameters to set the PLL properly.
So other than just setting the -1 mode...

Teşekkür ederim fehim.
Last edit: 11 Nov 2021 07:48 by serdigi.

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