Closing the servo loop with HAL mesa 7i76

Yeah I would not mess with the tuning but rather set all the various filter times to their minimums

Todd Zuercher wrote: Those pertain to tuning the position loop in the drive (something that may need done). But not directly to the velocity or acceleration limits.

I have changed the PD113 to 10 then 20 then 30 and 30 seems to have improved I upped the acc to 1100 now I can move at vel 1490 with G0 X500 X0 without the following error.

I will post the halscope plot tomorrow. Still not to sure how to use it properly yet

OK I have had a chance to try and tune the servo fro the following errors. (The motor is on the bench)
Re: the screen shot what do I need to adjust and what should I be looking for?

This was moving at about 50mm 14000m/min

Since changing the settings in the drive, are you still getting following errors?

Close but no cigar !
At that speed you are still getting about 400ms of total delay.
Have a look at the first post here, where the wiring ends and the tuning starts, right above the :fine tuning: part.
That should get you very close to acceptable very fast.
forum.linuxcnc.org/10-advanced-configura...ning-detailed-how-to

The fact that you are getting huge errors (> 1.5 mm) means the drive tuning is still way off
Did you set all the drives filter time constants to their minimums?

thefabricator03 wrote: Since changing the settings in the drive, are you still getting following errors?

Yes . I have now changed them back. Thanks for taking an interest

At that speed you are still getting about 400ms of total delay.
Have a look at the first post here, where the wiring ends and the tuning starts, right above the :fine tuning: part.
That should get you very close to acceptable very fast.
forum.linuxcnc.org/10-advanced-configura...ning-detailed-how-to

I am not sure how to read the plot. I have been studying the tutorial. (mine is step/dir)

The fact that you are getting huge errors (> 1.5 mm) means the drive tuning is still way off
Did you set all the drives filter time constants to their minimums?

Thanks Peter I have tried to fathom the manual but not sure which parameters to change.

manual: www.dropbox.com/s/jp7t9hcszjcg6na/1.8Kw%...vo%20manual.pdf?dl=0

New plot over 200mm

Clive S wrote:

thefabricator03 wrote: Since changing the settings in the drive, are you still getting following errors?

Yes . I have now changed them back. Thanks for taking an interest

I am about to start a project with up to 9 motors, some closed loop steppers and some servos. I plan on doing what you are doing and closing the loop within LinuxCNC. I am sure the issues and responses here will be very relevant to my situation when I get started.

I would set Pn110,111,112,114 to their minimums and see if that improves the tracking

PCW wrote: I would set Pn110,111,112,114 to their minimums and see if that improves the tracking

Peter many thanks for looking into this.

Pn109 is set for zero which I think disables Pn110,111,112 not sure if it affects 114.

But I will of course try those settings.

My Naz drives MB has failed and I am trying to get the data off the raid HD's which is going to take me some time.