Stepper Closed Loop and PID Tuning Question

#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~¯ # Aufbau der Wabeco 3Achse CNC Fräse # - Mesa 6i25 betrieben als 5i25 # - P2 Anschluss an CNC Steuerung nach EinfachCNC # - P3 Anschluss an Maschinenschnittstelle # # Features: # - 3 Glasmassstäbe mit 1µm Auflösung # #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~¯ # Include Sektion loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt hostmot2 loadrt hm2_pci config="num_encoders=5 num_pwmgens=1 num_stepgens=4 sserial_port_0=0xxxxxxx" loadrt pid names=pid.x,pid.y,pid.z,pid.a loadrt abs names=abs.spindle loadrt lowpass names=lowpass.spindle #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ # Generelle Funktionen #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ # Funtionen addf hm2_5i25.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.x.do-pid-calcs servo-thread addf pid.y.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread #addf pid.a.do-pid-calcs servo-thread #-> Vorhalt für 4.Achse #addf abs.spindle servo-thread #-> Spindelregelung Später integrieren #addf lowpass.spindle servo-thread #-> Spindelregelung Später integrieren addf hm2_5i25.0.write servo-thread #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ # Generelle Parameter #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ setp hm2_5i25.0.watchdog.timeout_ns 5000000 #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ #Debounce Modul (Entprellung) #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ loadrt debounce cfg=8,1 #8 Filter in Gruppe1 und 1 Filter von Gruppe 2 setp debounce.0.delay 20 addf debounce.0 servo-thread setp debounce.1.delay 1 addf debounce.1 servo-thread #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ # Externe Ein-/Ausgänge # P3 #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ net toolprobe-ext <= hm2_5i25.0.gpio.008.in net touchprobe-ext <= hm2_5i25.0.gpio.010.in net estop-ext <= hm2_5i25.0.gpio.020.in #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ # Externe Ein-/Ausgänge # P2 #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ setp hm2_5i25.0.gpio.018.is_opendrain 1 setp hm2_5i25.0.gpio.022.is_opendrain 1 setp hm2_5i25.0.gpio.024.is_opendrain 1 #setp hm2_5i25.0.gpio.032.is_opendrain 1 # Reserve für eine Zukünftige RL/LL Steuerung der Spindel #setp hm2_5i25.0.gpio.033.is_opendrain 1 # Reserve für eine Zukünftige RL/LL Steuerung der Spindel setp hm2_5i25.0.gpio.018.is_output 1 setp hm2_5i25.0.gpio.022.is_output 1 setp hm2_5i25.0.gpio.024.is_output 1 #setp hm2_5i25.0.gpio.032.is_output 1 # Reserve für eine Zukünftige RL/LL Steuerung der Spindel #setp hm2_5i25.0.gpio.033.is_output 1 # Reserve für eine Zukünftige RL/LL Steuerung der Spindel net x-enable => hm2_5i25.0.gpio.018.out net ext-230V-plug => hm2_5i25.0.gpio.022.out net spindle-on => hm2_5i25.0.gpio.024.out #******************* # AXIS X Einstellungen #******************* # PID Einstellungen setp pid.x.Pgain [AXIS_0]P setp pid.x.Igain [AXIS_0]I setp pid.x.Dgain [AXIS_0]D setp pid.x.bias [AXIS_0]BIAS setp pid.x.FF0 [AXIS_0]FF0 setp pid.x.FF1 [AXIS_0]FF1 setp pid.x.FF2 [AXIS_0]FF2 setp pid.x.deadband [AXIS_0]DEADBAND setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT setp pid.x.error-previous-target true setp pid.x.maxerror 1 # Step Gen signals/setup setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE setp hm2_5i25.0.stepgen.00.step_type 0 # Standard Step Signal setp hm2_5i25.0.stepgen.00.control-type 1 # position control mode (0) (Stepper Openloop) and velocity control mode (1) (Closed Loop) setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL # SetUp Encoder setp hm2_5i25.0.encoder.00.counter-mode 0 setp hm2_5i25.0.encoder.00.filter 1 # 1(0) the counter needs 15(3)clk to register a change 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 [AXIS_0]ENCODER_SCALE # ---closedloop stepper signals--- net x-idx-enable <= pid.x.index-enable <=> axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable net x-enable <= axis.0.amp-enable-out => pid.x.enable => hm2_5i25.0.stepgen.00.enable net x-pos-cmd <= axis.0.motor-pos-cmd => pid.x.command net x-pos-fb <= pid.x.feedback <= hm2_5i25.0.encoder.00.position => axis.0.motor-pos-fb net x-vel-cmd <= axis.0.joint-vel-cmd => pid.x.command-deriv net x-output <= pid.x.output => hm2_5i25.0.stepgen.00.velocity-cmd # ---setup home / limit switch signals--- net x-home-sw <= hm2_5i25.0.encoder.00.input-index => axis.0.home-sw-in net x-neg-limit => axis.0.neg-lim-sw-in net x-pos-limit => axis.0.pos-lim-sw-in

[EMC] MACHINE = Test_Mesa DEBUG = 0 [DISPLAY] DISPLAY = axis EMBED_TAB_NAME = GladeVCP EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -H gvcp_call_list.hal -x {XID} gvcp-panel.ui POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 1.4 MAX_SPINDLE_OVERRIDE = 2.000000 MIN_SPINDLE_OVERRIDE = 0.100000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files PYVCP = pyvcp-panel.xml INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm POSITION_FEEDBACK = ACTUAL # Geschwindigkeit in mm/s DEFAULT_LINEAR_VELOCITY = 10.000000 MAX_LINEAR_VELOCITY = 50.000000 MIN_LINEAR_VELOCITY = 0.500000 DEFAULT_ANGULAR_VELOCITY = 12.000000 MAX_ANGULAR_VELOCITY = 180.000000 MIN_ANGULAR_VELOCITY = 1.666667 EDITOR = gedit GEOMETRY = xyz [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] PARAMETER_FILE = linuxcnc.var SUBROUTINE_PATH = macros # Enables the reading of INI and HAL values from gcode FEATURES=12 # is the sub, with is called when a error during tool change happens ON_ABORT_COMMAND=O <on_abort> call # The remap code REMAP=M6 modalgroup=6 prolog=change_prolog ngc=change epilog=change_epilog [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 BASE_PERIOD = 100000 SERVO_PERIOD = 1000000 TRAJ_PERIOD = 1000000 [HOSTMOT2] # **** This is for info only **** # DRIVER0=hm2_pci # BOARD0=5i25 [HAL] HALUI = halui HALFILE = Test_Mesa_v3.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal SHUTDOWN = shutdown.hal [HALUI] [TRAJ] AXES = 3 COORDINATES = X Y Z LINEAR_UNITS = mm ANGULAR_UNITS = degree DEFAULT_VELOCITY = 2.50 #globales Maximum gültig für alle Achsen MAX_VELOCITY = 50.00 MAX_ACCELERATION = 60 #für Setuparbeiten das Homing unterdrücken NO_FORCE_HOMING = 1 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #******************** # Axis X #******************** [AXIS_0] TYPE = LINEAR HOME = 20 # Erlaubte Abweichung von der Sollposition in Abhängigleit von der Geschwindigkeit # findet eine Interpolation von den beiden Werten statt FERROR = 10.0 MIN_FERROR = 10.0 BACKLASH = 0.00 # Geschwindigkeit in mm/s #25 mm/s entspricht 1500mm/min entspricht 1200U/min am Steppermotor MAX_VELOCITY = 40.0 MAX_ACCELERATION = 60 # PID Reger Abstimmungen P = 35 I = 0 D = 0 FF0 = 0 FF1 = 1.0015 FF2 = 0.0005 BIAS = 0 DEADBAND = 0.0005 MAX_OUTPUT = 65 # Abstimmung der Stepper Signale (damit sollten max 1000U/min möglich sein) # - Stepper Hardware 1600 Step pro Umdrehung # (in nanoseconds) DIRSETUP = 12000 DIRHOLD = 12000 STEPLEN = 15000 STEPSPACE = 15000 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 50 STEPGEN_MAXACCEL = 100 # Umrechnug Step in mm Vorschub # 1600 Step/rev, Untersetzung 2:1 , 5mm/rev STEP_SCALE = 640 # 1000cnt/mm inverse ENCODER_SCALE = -1000 # Homeposition MIN_LIMIT = -0.01 MAX_LIMIT = 200.0 HOME_OFFSET = 0.0 HOME_SEQUENCE = 0