Hi all,
I'm trying to get a Stepper (with no encoder) working with a EL7041-1000 and having issues getting the axis scaling configuration right.
The issue is that the moving the axis lets say 1mm in LinuxCNC results in just a fraction (around 10) of the expected steps (80 full steps) on the motor axis.
Additionally there are quite often joint following errors the stepper slows down. I guess this is related to the PID settings.
The EL7041 is wired up in hal like this:
Code:
# Configure EtherCAT
setp lcec.0.STEPX.srv-scale [JOINT_0]SCALE
setp lcec.0.STEPX.enc-pos-scale [JOINT_0]ENC_SCALE
# PID
net x-index-enable <=> pid.x.index-enable
# PID to Joint
net x-pos-cmd <= joint.0.motor-pos-cmd => pid.x.command
net x-output <= pid.x.output
net x-enable <= joint.0.amp-enable-out => pid.x.enable
net x-pos-fb => pid.x.feedback => joint.0.motor-pos-fb
# Joint to EtherCAT
net x-enable => lcec.0.STEPX.srv-enable
net x-output => lcec.0.STEPX.srv-cmd
net x-amp-fault <= lcec.0.STEPX.srv-error => joint.0.amp-fault-in
net x-pos-fb <= lcec.0.STEPX.enc-pos
# EtherCAT Ready State
net x-ready <= lcec.0.STEPX.srv-ready
net x-ready-to-enable <= lcec.0.STEPX.srv-ready-to-enable
Where the joint_0 config looks like this
Code:
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# 200 Full steps(?)
SCALE = 200.0
# 200 full steps * 64 micro stepping * 2 (1/2 belt reduction) / 5 mm per revolution
ENC_SCALE = 5120.0
The EL7041 is on factory settings with just the max motor current set a value matching the motor.
Per default the EL7041 uses its internal counter as the encoder if I understood it right.
I would really appreciate any tips what I did wrong regarding the scaling.
Regards
Mark
