On Tue, 4 Mar 2014, Marius Liebenberg wrote:
> Date: Tue, 04 Mar 2014 21:38:42 +0200
> From: Marius Liebenberg <[email protected]>
> Reply-To: "Enhanced Machine Controller (EMC)"
> <[email protected]>
> To: "Enhanced Machine Controller (EMC)" <[email protected]>
> Subject: [Emc-users] Servo system oscillating feedback
>
> I installed a Mesa 5i25 with 7i77 to drive a Minibravo 60 Brushed DC
> motor drive. It drives a Brushed DC motor (ESA 3M 8019) from Motor Power
> Company. There is a encoder fitted to the motor. Also an ESA 3Mxx? There
> is a 10:1 planetary gearbox fitted to the shaft.
>
> The Minibravo's are designed to work with a tacho and has a tunable PID
> interface when using the tacho. These drives are fitted with an encoder
> interface board that turns the pulses into an analog voltage that is
> supposed to be representative of the rpm of the motor. When the encoder
> option is used it seems that the PID is not in circuit.
>
> The problem is that I get a constant severe oscillation when the motor
> is in rest as well as when it is driven. When I scope it with Halscope,
> I see the constant ripple on the feedback count as well. If I remove the
> analog input signal to the drive, I still get the oscillation.
>
> Has anyone have any experience with this kind of setup. Your assistance
> will be appreciated :)
>
> --
>
> Regards /Groete
>
> Marius D. Liebenberg
> +27 82 698 3251
> +27 12 743 6064
>
I would expect that there is a PI velocity control loop in the drive that
takes the simulated tachometer signal as the velocity feedback.
If the driver/motor oscillates without any feedback from LinuxCNC you will
need to lower the drives P/I gains until it is stable before proceeding.
>
Peter Wallace
Mesa Electronics
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