ASD-A2 EtherCAT on LinuxCNC

Obviously I'm doing something wrong or I didn't understand the tuning process.
FERROR = 100
MIN_FERROR = 100
P = 5
DEADBAND = 0.0001
MAX_OUTPUT = 230
The rest = 0
I set FF1 to 0.1; 0.2; 0.3; 0.5; 0.8; 1.0; 10; 20; 30; 50; 100; 150 and no change to the "joint.0.f-error" curve.
Each time I click on the cursor left or right (do not hold), the "joint.0.f-error" changes by about 2mm and returns to zero for 30 seconds.
Ends with "joint.0.f-error" = 0.42mm.

Can you please advise me what he's doing wrong?
Thank you very much.

Hi @Jirkam
I work in speed mode with ethercat servo drive,
It depends on how you have configured the speed mode in the drive., in the DELTA manual I see that for a 3000 rpm motor you need to enter a command of 30,000, then you would have to try maximum engine speed for checking average engine speed for checking

Now let's configure the PID
P = 1
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
DEBAND = 0
MAX_OUTPUT 30000

Now it has to work


Now adjust P until it starts to vibrate and lower it a little, my house is around 200

then surely you lack acceleration
configure the parameters
P1-34
P1-35

I hope I helped you

Cheers
Chimeno

Thank you very much for the instructions. I'll try it tomorrow.
P1-34 and P1-35 I have 1000ms.

I just wondered if I didn't have an unnecessarily high resolution.
P1-44 = 1280 and P1-45 = 15.

Must P2-60, P2-61 and P2-62 be the same as P1-44?
I have all three parameters of 1280 pulses.

Thank you very much jirka

Hi @jirkam

Thank you very much for the instructions. I'll try it tomorrow.
P1-34 and P1-35 I have 1000ms.

It depends on the values ​​that you have placed in the .ini file and also on those that you need the machine to move quickly.
these are the parameters that you will have to change

I just wondered if I didn't have an unnecessarily high resolution.
P1-44 = 1280 and P1-45 = 15.

these values ​​are for the reducer, I think it may be better to do the tests leave it at 1 and configure the ratio in linuxcnc this is for me, one engine turn is 5 millimeters

Greeting
Chimeno

Hello @ chimeno

"lcec.0.x.srv-velo-cmd" refuses me.
Did you mean "lcec.0.x.srv-vel-cmd"? That was ok.

I setup:
P = 1 (gradually increased up to 25,000)
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
DEBAND = 0
MAX_OUTPUT 30000
and still a huge f-error.

I changed the encoder settings (P1-44 = 1 and P1-45 = 1)
SCALE = 15
and it was better.
I ended up here:
P = 130
I = 0
D = 0
FF0 = 0
FF1 = 1.12
FF2 = 0.006
DEBAND = 0
MAX_OUTPUT 30000
The result in the pictures. It's a spiral again.
I don't think it's ok.
How to improve it?
Thanks jirka

Hi @jirkam, I use the servo drive beckhoff, the signal has another name.

have you given him more acceleration?
P1-34
P1-35


can you measure the engine revolutions with this command? = 1.500 rpm

Greetting
Chimeno

Hi @chimeno
I only set the acceleration to 1500 in Lcnc.
Visible change in acceleration.
But I will try to set the acceleration of both P1-34 and P1-35.
I thought it would be enough to set up Lcnc.

"setp lcec.0.x.srv-vel-cmd 15000"
Do you mean measurement in HALscope?

Thanks jirka

Hi @chimeno
Here are the pictures with "lcec.0.x.srv-velo-cmd".
It's a spiral again.

P = 120
I = 0
D = 0
FF0 = 0
FF1 = 1.12
FF2 = 0.006
DEBAND = 0
MAX_OUTPUT 30000
SCALE = 15
P1-34 = 200
P1-35 = 200

Thanks jirka

As far as i know, FF1 can not be over 1.
I might be wrong though as i never checked, but i also never needed to go over it to tune a servo system.

Hi @chimeno
Replenishment.
I forgot to change one parameter in the .ini.
MAX_ACCELERATION = 1500.0
This is how the curve changed.

Thanks jirka