Category: Driver Boards
I connected 5V to the card and the result improved. Unfortunately, there are still problems. Now it is possible to achieve a feed of 15000mm/min in one direction, but only 10500mm/min in the other direction. This happens with all axes. The video shows a program where the table moves in a R150 circle. When moving up to 10000mm/min, the follow error is acceptable, but when moving faster, it starts to accelerate after a certain limit.
I am attaching the .hal and .ini for the X axis.
#*******************
# AXIS X JOINT 0
#*******************
setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true
net x-index-enable => pid.x.index-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
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [JOINT_0]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout0-minlim [JOINT_0]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [JOINT_0]OUTPUT_MAX_LIMIT
net x-output => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-enable <= joint.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable => hm2_5i25.0.7i77.0.1.analogena
# ---Encoder feedback signals/setup---
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 [JOINT_0]ENCODER_SCALE
net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net x-home-sw => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in
[AXIS_X]
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 500.0
MIN_LIMIT = -250
MAX_LIMIT = 225
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 750.0
P = 6
I = 0
D = 0
FF0 = 0
FF1 = 0.04
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = 1000
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -250
MAX_LIMIT = 225
HOME_OFFSET = 0.0
HOME_SEQUENCE = 2
HOME_SEARCH_VEL = 000000
HOME_LATCH_VEL = 0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = YES
HOME_SEQUENCE = 1
#******************************************
