On Tuesday 09 March 2021 12:11:40 dave engvall wrote: > The few times I've had different counts re' direction it has been a > broken flex coupling to the encoder. > Of course it could be that you are simply running out of frequency > response. Not likely but possible. > > Dave
Welp, I am back to a 1 khz servo thread, having tried it up to 4 khz, the i5 can likely do 10 khz, but then the encoder loses track and the fictitious home drifts. I find the gear ratio of this lashup seems to prevent speeds the servo is capable of as it can move at 1800 degrees a minute with one leg of the bridge on full time, so my present settings are maxvels in the 600 degree range. that's 20 in the ini file, and 1 khz limits me to a MAX_ACCEL of 400. And at 400, the stop actually tickles the opposite direction for about 4 millisecs. But not long enough to crowbar the supply. The encoder in this motor is optical, and may need some pullup added. I need to take the other two probes out and make use of that scopes 3rd and 4th traces. I am getting nominally 666.666666667 counts per degree of BS-1 motion. More accuracy than mechanically possible. :) Bugs?: 0. halmeter needs at least 2 more digits of display before it switches to an EE display. 1.Deadband does NOT work as the man page says, a 3 setting makes it run 3 degrees past the command. There is no zero output to be seen on a scope as it goes thru 0 speed. idb needs that zero point when stopped to shut the driver off completely. 2. The idb module has almost zero effect. 3. There is an up to 5 degree offset between HOME = 0.000 and HOME_OFFSET = 0.000 and the switch closure which varies with LATCH_SPEED. Currently at 3 cuz any slower it stumbles and stalls as it moves, too much friction. setp debounce.0 1 in the .ini file. 4. Touch-off works crazily. Impossible to actually touch off to zero. Pro's: And I'd like to publically thank whoever did the configure screen tuning tool, that's pure genius. Thank you very very much. > On 3/7/21 12:54 PM, Gene Heskett wrote: > > On Sunday 07 March 2021 14:07:33 Feral Engineer wrote: > > [...] > > > >> sudo update-grub > > > > Wasn't in there, put it in and rebooted. No difference. There is also a TRAJ-THREAD defined in the ini file, running 2x faster than SERVO-THREAD, but I've not been able to find it running. And I can't addf anything to it. What does it do and What is it good for? > > Now I am re-calibrating the servo_scale which will take an hour or > > more. I snapshot the encoder count at 1.0 turns of the home-switch, > > snapshot the counter at 101 turns, subtract the first count from the > > second to get the diff, div that by 100 to get 1 turn, and divide by > > 360 to get one degree. Or just div by 36000. I am also suspecting > > I'm missing a count, at g0 speed, 1800 degrees a minute, the dro is > > losing counts, worse in one dir than the other. I *think* that's a > > separate problem. Which has not yet been addressed. Thanks Dave and everybody. Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) If we desire respect for the law, we must first make the law respectable. - Louis D. Brandeis Genes Web page <http://geneslinuxbox.net:6309/gene> _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
