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ihavenofish wrote:

That link says modbus. also the price is more than 3 full ethercat ac servo kits.

But still neat.
 

You have to check the part number for ethercat (ECX=ethercat)

If the scaling is correct, FF1 must be 1.0

I would lower the P term (till it no longer oscillates), raise the ferror limits
 And the plot the following error (and commanded velocity) to get an idea of
what is happening.

Another guess is that the drive responds too slowly to step commands
(this may be a tunable feature)

Because I need G-Code support may be the best solution would be to get rid of my IMC4 controller and build up a new hardware which is supported by linuxCNC (only reuse the mechanics and motors, but this is high effort),

this is the solution to use linuxcnc

Strange. all packages are available in the Debian repositories (libtool,autoconf,autoconf-archive,automake)  packages.debian.org/search?suite=default...mes&keywords=libtool
Even stranger because iGh the ethercat master developer is a German company.. I wonder if its a language/locale issue? I can't help

tommylight wrote:

This will not work without changing the drive config so the JMC are set to work with no encoders.

Do you know how to config this in the JMC?
I did some investigation, but could not find how to do this...

after

sudo apt install build-essential

unfortunatly I receive the same error mesage

folgenden Pakete haben unerfüllte Abhängigkeiten: ethercat-dkms : Hängt ab von: libtool ist aber nicht installierbar Hängt ab von: autoconf ist aber nicht installierbar Hängt ab von: autoconf-archive ist aber nicht installierbar Hängt ab von: automake ist aber nicht installierbar E: Probleme können nicht korrigiert werden, Sie haben zurückgehaltene defekte Pakete.

unfortunatly in german but basically libtool autoconf, ... can not be installed
I tried to install libtool individually: and I get the error message:

For the paket libtool there is no install candidate.

(my translation)

Is there any more information I can provide to narrow down the problem?

tommylight wrote:

Jensner wrote:

Zur Signalverarbeitung kam eine 7i85s dazu und die 7i96s wurde mit der entsprechenden Firmware geflasht.
Nach etwas testen und Jumper setzen, erhalte ich nun auf allen 3 Achsen saubere Signale über die ersten 3 Encoder-Eingänge der 7i85s.

   
Are the encoders wired to Mesa 7i85S?
Or are the encoders wired to JMC ?
Or, i really hope not, did you remove the encoders from JMC and wired to Mesa? This will not work without changing the drive config so the JMC are set to work with no encoders.
I assume this is the case as you mention the motor moves slowly when enabled, and this is exactly what will happen when encoders are detached from JMC.

Yes, the 3 Linear-encoders are wired to the Encoder-Ports at the MESA 7i95s.
But the iHSS60 itself are Closed Loop and i thought, that the internal controller maybe tries to correct the position.
Than the linear-Encoder gets the signal to the PID to correct and this leads to the growing shaking. 
Do you know what i mean?

Has someone maybe a similar config? Closed Loop Stepper together with Linear-Encoder on Mesa?

Jensner wrote:

Zur Signalverarbeitung kam eine 7i85s dazu und die 7i96s wurde mit der entsprechenden Firmware geflasht.
Nach etwas testen und Jumper setzen, erhalte ich nun auf allen 3 Achsen saubere Signale über die ersten 3 Encoder-Eingänge der 7i85s.
   

Are the encoders wired to Mesa 7i85S?
Or are the encoders wired to JMC ?
Or, i really hope not, did you remove the encoders from JMC and wired to Mesa? This will not work without changing the drive config so the JMC are set to work with no encoders.
I assume this is the case as you mention the motor moves slowly when enabled, and this is exactly what will happen when encoders are detached from JMC.

tommylight wrote:

Schau mal an das:
forum.linuxcnc.org/10-advanced-configura...glass-scale-feedback

I Think my config sadly is exactliy what you mentioned with "THIS IS NOT FOR CLOSED LOOP stepper systems with encoder wired to their drives."

What do you think?
 

PCW wrote:

My first guesses as to what is wrong are these:

1. P term too high (1000 is way too high for encoder feedback)

2. either stepgen scale and encoder scale (or both) are not correct
 

 
HI,
I did some testing before i conected it in the HAL to make sure that die Signal of the Encoder incl. Scale is correct. These are Encoders with 0.005mm, so "ENCODER_SCALE = -200" are correct.
I tested it with HAL Show and it was identic with X shown in the GUI.

Further more I did some testing too with the PID-Config, but P=1000 and FF1=1 works the best. 
Every other (for example P=50-100 or FF1=0.1-0.5) leeds to errors. 
Best regards

My first guesses as to what is wrong are these:

1. P term too high (1000 is way too high for encoder feedback)

2. either stepgen scale and encoder scale (or both) are not correct
 

Thanks for fast reponse. Yes I understood that linuxcnc accepts G-code input, drives CNC machines in response, means directly drives the axis/stepper motors.

My hope was that there is also a mode to drive the axis via RS232.
The LinuxCNC-DNC software (github.com/mizoguch-ken/LinuxCNC-DNC)
sounds like it would support the DNC Languag (my IMC4 is using), may be I missunderstood and its the way arround, that it supports an input via serial interface (instead of G-Code), but I'm not really sure because could'd find a documentation.

If I understand your answer correctly (I'm not a native speaker) it says using linuxCNC would even make no sense for my use-case because than I would have 2 CNC controllers in a que?

Because I need G-Code support may be the best solution would be to get rid of my IMC4 controller and build up a new hardware which is supported by linuxCNC (only reuse the mechanics and motors, but this is high effort), or does somebody know a G-Code to ISEL DNC-Code converter?

Schau mal an das:
forum.linuxcnc.org/10-advanced-configura...glass-scale-feedback

Hallo Leute,

Ich habe in den letzten 2 Wochen meine Portalfräse mit einer neuen, sauberen LinuxCNC-Installation incl. Probe Basic versehen.
Die 3 Achsen laufen hervorragend auf JMC Closed Loop iHSS60-36-30-21-38.
Als Steuerungskarte lief eine MESA 7i96s.

Nun wollte ich die Genauigkeit nochmals verbessern und habe meine Achsen mit Magnet-Linear Encodern versehen.
Zur Signalverarbeitung kam eine 7i85s dazu und die 7i96s wurde mit der entsprechenden Firmware geflasht.
Nach etwas testen und Jumper setzen, erhalte ich nun auf allen 3 Achsen saubere Signale über die ersten 3 Encoder-Eingänge der 7i85s.

Soweit so gut. 
Nun zum Problem.
Ich habe die HAL nun testweise nur mal für die X-Achse entsprechend angepasst.
Sobald ich nun die Maschine aktiviere beginnt die X-Achse selbstständig, sich ganz langsam sich aufzuschaukeln bis sie in einen Positionsfehler fällt. Nun habe gibt es 2 Optionen.

1. ich bin zu blöd die Pins in der HAL korrekt zu verbinden (was durchaus möglich ist)
2. Der Closed Loop versucht ständig zu korrigieren und der Messwert (PID) arbeitet dagegen.

Ich komme hier irgendwie nicht wirklich weiter.
Könnt Ihr mir hier bitte helfen.

Hier mal die HAL und INI (wie gesagt, ich habe erst mal nur X zum Test umgestellt)
 
 

Vielen Dank und viele Grüße
Jens
   

Hi,

Yes, that's why I asked about active development, should have mentioned that post If I manage to make something useful, does it matter if the code uses Python API or is written in C? 

Tero