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I am building out POC with Teknic ClearPath EtherCat servos and so far the Cia402 driver is working great.. I have a question around PID tuning.

I ran around in circles trying to get the right P, I, D, FF, FF1, FF2, etc settings and couldn't get the servo anywhere near its limits before it would fail out with a joint follow error.  

I got rid of all the PID settings and now it won't fail on following but it runs a f-error of about 5.8 when I do some long mock moves (the 5.8 on the scope is a nice trapazoid shape with a ramp up, flat top and a ramp down.. )

So folks with servos that have their own internal control-loop, how do you configure your PID or tune so that when you have 3 of these guys going their combined f-errors don't cause you to make wonky parts? 

Thanks in advance..  Since this is mostly a theory question I'm not posting configs, but happy to if folks ask. 

I don't think there is a pin 0 issue as this is a 7I96s and the encoder is on pins
27,28,29

Language may be the issue, I don't know enough about locales and translations
but do all strings in the source get translated? (en_US):

                    if "Arc Voltage" in pinchanged:
                        self.d._arcvpin = pin
                    elif self.d._arcvpin == pin:
                        self.d._arcvpin = None
                    if self.d._arcvpin and self.d.frontend == _PD._QTPLASMAC:
                        self.p.page_set_state('thcad', True)
                    else:

 

Hi, I had the same issue and there was a problem with pncconf displaying the THCAD page if the pin number was 0.  I made a pull request that has been merged a couple of days ago into 2.10 master.  You could either use an input that doesn't have a pin number of 0 or upgrade to the 2.10 master.

Hope this helps.

Hi all,
Finally got around to LinuxCNC'ing my cheap bench top mini mill, making the jump from Arduino/GRBL (Ughh) to a Mesa7196S.
Problem is my Y axis is making me feel like my IQ has plummeted..

X and Z, perfect (have opto sensors at Z+ and X- (X is mounted to the left of Y saddle as viewed from front - aiming to have bottom left corner as my 0,0).

Unfortunately I appear to lack the logic to get the Y limit configured so that it can be a combined home/limit at +145mm without mirroring the Y axis!
For clarity: I want to home the machine by moving the bed fully to the right for the X axis (working) and fully towards the idiot Operator (tool max +Y), but everything I have tried either inverts the Y or results in soft limit exceeded.

My ini and hal are attached, any help will be very much appreciated!

Cheers,
Rog

--- 10.10.10.10 ping statistics ---
60000 packets transmitted, 60000 received, 0% packet loss, time 60420ms
rtt min/avg/max/mdev = 0.057/0.276/16.993/0.227 ms, pipe 2

OK that (almost 17 ms) is the issue.

Depending on the Ethernet hardware on the host, solutions are:

If it's a Realtek MAC, install the DKMS driver

Disable PCIE/Ethernet power management

Make sure all power management is disabled in the BIOS
It that's not good enough, pin the Ethernet IRQ to the last processor
and use isolcpus in the kernel command line.

Here's a long  thread on solutions to this issue:

forum.linuxcnc.org/18-computer/56380-error-finishing-read-sigh
 

--- 10.10.10.10 ping statistics ---
60000 packets transmitted, 60000 received, 0% packet loss, time 60420ms
rtt min/avg/max/mdev = 0.057/0.276/16.993/0.227 ms, pipe 2