On Fri, 9 Jan 2009, Howard Chan wrote:
Date: Fri, 09 Jan 2009 01:33:57 +0800
From: Howard Chan <[email protected]>
Reply-To: "Enhanced Machine Controller (EMC)"
<[email protected]>
To: "Enhanced Machine Controller (EMC)" <[email protected]>
Subject: Re: [Emc-users] [utf-8] Re? 5i20+sevos and ??stepper??
Peter C. Wallace ????:
On Thu, 8 Jan 2009, WF Chan wrote:
Date: Thu, 8 Jan 2009 03:59:47 -0800 (PST)
From: WF Chan <[email protected]>
Reply-To: "Enhanced Machine Controller (EMC)"
<[email protected]>
To: [email protected]
Subject: [Emc-users] [big5] Re??G 5i20+sevos and ??stepper??
I am using 5i20 control card in analog mode but there are not any
output telling me using HostMot2.
Is it means that HostMot2 is only using in digital mode?
No, it means you are not using HostMot2 at all
which means you are probably using the old m5I20 firmware/driver
The selection of digital or analog will require re-wiring and possible
different daughter cards.
If I want to use an new firmware/driver what can I do?
If I would like to use digital, which .hal and .ini files I need to
change.
Are there any tutorial for me?
Can you explain what the "digital interface" to you motor drivers is?
(pwm+dir, step+dir, sercos, esp, something else?)
Before I asked you a same question, at that time you suggest me using
analog mode to control my SANYO DENKI servo amplifier. Yet, I can solve
the error so large problem,(http://myweb.polyu.edu.hk/~icwfchan/p4.png)
especial accelerate and decelerate. I need set a large feed error, the
machine can be run. I think is it using an old firmware/driver or my
servo amplifier setting is wrong??
I would say thats a tuning problem. The driver/firmware or analog/digital I/O
will not make a big performance difference
Some people suggest me setting the servo amplifier to close loop. But I
only use semi-closed control, is it any problem?
I think you do have full closed loop but there are 2 PID loops involved
You have a velocity mode amplifier so its velocity loop needs to be tuned
independently of EMC, though EMC could help by generating stimulus (DAC
output) and reading the response from the encoders.
Can you verify that your amplifiers velocity loop is tuned?
That is if you put a constant voltage into the analog input
does the motor run at a constant speed?
If you put a step change in the analog input (say from 1V to 3V) does the
velocity stabilize at the higher speed without major overshoot or
oscillations?
I think it will be much harder to tune your system unless you tune the
amplifiers velocity loop independent of EMCs position loop.
My wiring connection is motor encoder connected to servo amp CN2 and the
CN1 pin 3-8 connected to 7I33T. I calculate the INPUT_SCALES and use
hal_meter and sanyo denki software to check the count value, the value
is equal. I think that the feedback signal have not any problems. At
last I tune the PID, FF1 and FF2 value, but the error also so large.
Therefore I think that if I using digital input, is it more better that
analog?
I doubt it would help, the tuning problems will likely be the same
Can you repost the plots of your servo motion, maybe I can guess at whats
wrong with the tuning?
Servo Amp manual:http://myweb.polyu.edu.hk/~icwfchan/M0006890C.pdf
I have another question. According to manual page.7-4(PDF page.117), the
servo system structure said that there is a velocity loop in the servo
amp but there is other close loop in the emc program. Is it means that
there are two closed loop in my system, is it redundancy and what is the
difference between them?
Thank you!!
Thank you!!
Peter Wallace
Mesa Electronics
(\__/)
(='.'=) This is Bunny. Copy and paste bunny into your
(")_(") signature to help him gain world domination.
------------------------------------------------------------------------
------------------------------------------------------------------------------
Check out the new SourceForge.net Marketplace.
It is the best place to buy or sell services for
just about anything Open Source.
http://p.sf.net/sfu/Xq1LFB
------------------------------------------------------------------------
_______________________________________________
Emc-users mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/emc-users
------------------------------------------------------------------------------
Check out the new SourceForge.net Marketplace.
It is the best place to buy or sell services for
just about anything Open Source.
http://p.sf.net/sfu/Xq1LFB
_______________________________________________
Emc-users mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/emc-users
Peter Wallace
Mesa Electronics
(\__/)
(='.'=) This is Bunny. Copy and paste bunny into your
(")_(") signature to help him gain world domination.------------------------------------------------------------------------------
Check out the new SourceForge.net Marketplace.
It is the best place to buy or sell services for
just about anything Open Source.
http://p.sf.net/sfu/Xq1LFB
_______________________________________________
Emc-users mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/emc-users
