ASD-A2 EtherCAT on LinuxCNC

Greetings to all.

I have some new information.
My more experienced colleague found that when "MAX_ACCELERATION" is increased to 1200, the "lcec.0.X.srv-vel-cmd" curve is smooth.



And this is what it looks like when crossing manually.



But "MAX_ACCELERATION" 1200 is too much for my machine. I need a maximum of 750.
There is still a configuration error and we can't find it.
The PID loop is tuned and the f-error is 0.015 mm. And that's too much.

Can you think of a solution?

Thank you very much and have a nice day.
Jirka

To me that looks like not enough FF2

Hello.

When I add FF2 0.0005, the servo starts creaking.
FF2 0.0001 does not affect this in any way.

Thank you very much for your response.

If the servos are running in velocity mode, LinuxCNCs FF2 should adjust
the height of the step error during acceleration and decceleration.
(the velocity ramp up and ramp down portions of your plot)

If the servos are operating in position mode, the FF2 adjustment would
be made in the drive, not LinuxCNC

Hello.

I have speed mode.
I'll send PrtScn with FF2 tomorrow.

Thank you very much for your response.
Jirka

Hello.

Here I set FF2.





But I need a "MAX_ACCELERATION" max 750.
That is, I would need to improve the charts below





Thank you very much for your answer.
Jirka

Good day.
So I managed to tune the servo a bit.
The milling error is 0.005 mm.
But I still have a problem with rapid traverse crossings. It vibrates. See image "oscillation 01.png" and "oscillation 01 detail.png".
I don't know what it could be anymore.





I contacted the technician again and told me that he did not know how to set up ASDA better. He claims that the error is in the communication Linuxcnc vs ASDA.
Can you please advise me?

Does anyone have Lcnc and ASDA on Ethercat?
Can you please make me a printscreen from the HAL Oscilloscope f-error servo on the g-code "spiral test 1200.ngc" and "spiral test 1200 v2.ngc" and manual crossing?

Big thanks. Jirka

Are you by any chance using older Yaskawa motors with original encoders ?
In that case, those are not normal incremental encoders and will not work properly with the drive set for normal incremental encoders.
Seen this issue when i did a retrofit and replaced the Yaskawa drives with new Aragon drives, the Yaskawa encoders are proprietary and have 3 sets of differential outputs with slots shifted between them at 120 degrees. Had to replace the encoders also.

Hello.
No.
I have: 750W Delta servo motor ECMA-CA0807RS with absolute encoder and Delta driver ASDA A2-E EtherCAT.
Thanks Jirka

Hello @jirkam
I'm sorry I have never worked with the ASDA driver, I use the BECKHOFF, I attach the screenshots made with your "latest1200.ngc" file in case it can help you,



the problem of the communication of only SYNC0 is not so important at low speeds, simply that when linuxcnc accesses your device, it does it in a click or two, let's say until the frames are found again. One way to see it is with the cross-device error log with the command,


if you have problems with synchronization, you will have to use the patches included in linuxcnc-ethercat
github.com/sittner/linuxcnc-ethercat/tree/master/patches


greeting
Chimeno