Retrofit Gloria Europa 2/40 machining centre

PCW wrote: is the PID MAX_ERROR 0? (it should be)

In my hal file i have

backtime wrote: In my hal file i have

Code:

setp pid.x.maxerror .0005

You should change that, immediately.

You will also likely find that your P term is way too high for an encoder feedback situation
so i would set it lower to start

andypugh wrote: You should change that, immediately.

Yes sir... immediately he he he

PCW wrote: You will also likely find that your P term is way too high for an encoder feedback situation
so i would set it lower to start

Actually i have P=1000, I found this value by reading a few posts on the forum, what value would you use as a starting value?
P=50 might be fine as starting point?

Meanwhile I was able to retrieve the configuration files.
Are preliminary files in which only the X axis has been configured, I'll setup other axes when the axis X will work properly.






For halscope plot I have to wait to get back to the workshop.

Thanks for your help

Yes P=1000 makes sense for open loop stepgens but is likely too high for closed loop
because there is much larger delay from VelocityCommand --> Step -->Drive --> Mechanics --> Encoder --> LinuxCNC
vs open loops VelocityCommand --> StepgenPositionFeedback

Ok, with things are much better

Now i have P=50 and error is stable at 0.02 at high speed, I will make a few tries with other PID parameters,
but this is a great value.

The only problem is a peak at the beginning of the acceleration ramp (ferror raise to 1/1.1), i have taken a screenshot of halscope and saved halscope data file. Pins in halshow are: motor-pos-cmd, motor-pos-fb and ferror.

if you have suggestions let me know.

p.s. the command "Open data file" in halscope is greyed out, saved data cannot be loaded?

I suspect your drives cannot accelerate as fast as requested probably because
your INI file velocity and acceleration settings are too high for a mill
(500 mm/sec is possible on a fast router but scary fast for a mill)

It can be, but the data of speed and acceleration are provided by the manufacturer and are the result of simulations carried out by the manufacturer considering the masses involved.

This is the simulation for the X axis





Anyway I will try to decrease the values of acceleration and maximum speed up to eliminate the peak.

Thanks for answers.

Do you have any FF1 term in the PID? There is a pin to connect the velocity command from HAL to make that work better.

axis.N.joint-vel-cmd => pid.N.command-deriv

You are showing a 1mm out-of-position error at the star of a rapid. This will be top limit for the off-of-path error, which will typically be rather smaller. (ie, the tool will be behind the commanded position, but often fairly close to the path despite this)

You might find that the error reduces rapidly with lower accel limits.