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made it,
i bricked the board

because the linux version on it was too old i wanted to update, but that went wrong somehow, now i'm trying to compile a new one and get it running again somehow.

it's no fun and very time consuming

unknown wrote:

BSD isn't forgotten, I've run it for years on a router/firewall.

+1
And used it's desktop versions for over 2 years, probably 20 years back.

BSD isn't forgotten, I've run it for years on a router/firewall.

Probably need the drive manual for that...

If it's like a classic motor drive, there will be three nested PID loops:

1. Torque (current) command/feedback --> torque (current) out
2. Velocity command/feedback --> torque out  
3. Position command/feedback --> velocity out

Is there any tuning program available for the drive?





 

And you can build a Linux system entirely from source, if you are into that kind of shenanigans.
Boot from a tftp server and run the OS entirely from ram. Or boot from a tftp server and mount the rootfs from a third machine.
A lot of home routers/access points/modems run Linux.

Running a Linux desktop is quite boring and mundane when one realises what Linux is capable of, and what a user can do with it once they read & experiment.

That's correct. I'm going to try to adjust the gain settings and see if I can get this tighter. Any suggestions what settings to look for? Many thanks

As had been suggested before, it looks like the drives themselves need tuning.

Not a firmware issue.

I would not expect motion until you enable the drives.

If there is an analog output issue, it typically shows up as a non-zero
output voltage when the 7I77 is powered.
 

Hi tommy, 

The voltage was the same at both drivers. I have dug a bit deeper and used Halscope and probed 

Joint.0.motor-pos-cmd against hm2_7i95.0.encoder.01.position

For both X and Y, I cut a few circles using arcs, and this is my result. Looks like the motor isn't keeping up with the encoder?

I wasnt sure what /k to use, so I have attached two screenshots, one all even /k and some scaled to fita better curve. This is all new to me so apologies in advance. 

I'm using Step/Dir Servos, I have just temporarily fed the endcoder back to LinuxCNC for testing. 
Im using 1kw ac servos by Litchaun 4NM the machine is a Haas mini mill. any thoughts?
   

  It works perfectly, will attach my hal for others to use