Hello! I am trying to set the machine up. It has 5i23+7i48 cards, 3 Kinco servo drives and 3 linear scales, so I am aiming at trying 2 feedback devices for each joint. I have following questions:
1) I tried autotuning of these Kinco drives; currently motors are stable and as it seems fine as much as I can tell at the moment. Does anybody have experience with Kinco servo drives and their autotuning feature? Is there anything specific to take into account, anything specific to adjust? 2) to test feedback loop in servo drive, I would like temporarily not to use pid modules in LinuxCNC, but it seems that I can't figure out correct HAL connections. In HAL file I have: axis.0.motor-pos-cmd => hm2_5i23.0.pwmgen.00.value axis.0.motor-pos-fb <= hm2_5i23.0.encoder.00.position But it seems that there is something wrong - if I try to jog motor, it just moves until ferror is triggered. Everything is fine, if I drive pwmgen value from pyvcp widget - motor moves smoothly and encoder velocity seems correct, it smoothly changes as I adjust pwmgen value. 3) currently my servo tuning experience includes exclusively 7i39 drives, so now I do not understand, how am I supposed to close position loop in LinuxCNC, when velocity loop is closed in servo drives (they are running in velocity mode). Is it correct that I should use only P and I parameters? If yes, does it mean that with 2 feedback devices I would use only P parameter in pid controller that receives position feedback from motor and and I parameter in pid controller that receives position feedback from linear scales? Thanks in advance! Viesturs ------------------------------------------------------------------------------ CenturyLink Cloud: The Leader in Enterprise Cloud Services. Learn Why More Businesses Are Choosing CenturyLink Cloud For Critical Workloads, Development Environments & Everything In Between. Get a Quote or Start a Free Trial Today. http://pubads.g.doubleclick.net/gampad/clk?id=119420431&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
