excellent.

You might have to do some testing, EK1100 works fine as the first DC with Beckhoff servos, but I don't know how your servos will like it, to be tested, possibly fine, but I wouldn't finalize anything before testing is done.

So, even if you switch to the EK1100 as a coupler and related I/O on the EK1100 backplane, it is not recommended to use them as the first slave. Is it better to install the drives first and then the EK1100?

Verify Pr0.04 with inertia identification.
Zero Pr2.22 and Pr2.23.
Raise Pr1.10 to ~500, see if small moves land correctly.
Bring Pr1.12 up in 10-point steps with Pr1.13 ≈ 50.
Measure breakaway torque per direction (d04 monitor) and set Pr6.08/Pr6.09.
Only then, if still imperfect, enable Pr2.50 (ZTC).

Exist a model one 5 volt TTL with 1 channel encoder or 2 channel encoder , with really Z index signal ?

EL5101 is 5V with the Z index

That's exactly what I'm looking for. Perhaps someone has already made such adjustments to the driver and can say which parameters need to be adjusted.

I'll try your latest patch from this morning later today or tomorrow. If the axes make noise, I'll move the first current slave to last, so we'll have the 3 drives first, then the I/O.

Also new 2.10 will not start with your .ini configuration having names with hyphens, use underscores

Some booster parameter for micro increments?

Never mind, I had the name of my handler file wrong in the ini file.
It works! 

Thank you

 
 


And the INI lines to add it to a tab in Axis.

Tha model EL5152 is for 24 volt encoder , we normally use 5 volt TTL encoder, because normally use emulated endoer out the drive .

Exist a model one 5 volt TTL with 1 channel encoder or 2 channel encoder , with really Z index signal ?

No, not that.

So, if I tap just once, for example 0.1 mm, the axis moves 0.09 mm and it takes about 1-2 seconds for it to adjust.
It's exactly the same at 0.01 mm.
At 0.001 mm, I have to tap several times before anything moves, and it takes quite a while for the axis to adjust.
I did some calculations:
17Bit encoder and 10mm spindle:
1mm = 13107,2 inc = 35,38°
0,1mm = 1310,7 inc = 3,5°
0,01mm = 131,0 inc = 0,35°
0,001mm = 13,1 inc = 0,035°

The A6 should easily manage that.I don't think autotuning alone will be enough.
You'll probably have to adjust some settings in the driver.
 

I tried coping what you have above (with the appropriate name changes) to the handler file, but I still get all zeros in the table.

 

Good morning,

If you want to keep an I/O as first device I suggest EK1100 instead, or have the servos first.

If you want encoder for rigid tapping I suggest EL5152 and a suitable encoder with A/B/Z signals.

EL5122 does not support Z signal, and you'd have to create a virtual one, more laborious, and possibly never as precise/repetitive.

Using EL5122 or EL5152 as first device on DC also not advised, they are not  conmonly used that way, so I'd avoid it.

I've been think about your debian 10 immediately OP, and I suspect that points to your debian 10 running in free mode and not DC.