My wiring is pretty much the same, with both differential step/dir and encoder feedback to the 7i95T. The biggest question for now is setting up the driver parameters. For example, Pn#4 has the following options available:
0: position control mode; 1: internal position/speed/torque control mode 2: internal speed control mode; 3: jog control mode. 4:zero mode. 5:Open loop operation mode. 6:Automatic gain adjustment mode. 7:Analog speed mode 8:Analog torque mode 9:Position and Analog speed mode. 10:Position and Analog torque model. 11: pulse speed control mode 12: Analog zero automatic adjustment (after connecting the upper computer system, Setting this parameter can automatically write the zero point of the current analog and simplify the debugging of the analog. 11 and 12 functions are available in V519 or later, and the product model suffix with D also has these two functions. The internal position/speed/torque is determined by the I/O port. For now, I'm leaving it at 0, but struggling with "huge" following error, even with increased Pn#5 (position proportion gain) to maximum. There is also additional big spike in following error when reaching 1000rpm on servo. It would really help me some advise about those drive's parameters. Thank you > Hi Tomaz, > I'm using 4 Bergerda's on my LinuxCNC mill. From PC to 7i92H to PMDX126 > step/dir/enable signals to a custom level translator for differential > signals to the driver with a fault signal for feedback. Later this evening > I'll go down and grab all the config values. I do have some written down on > one of the manuals but I can't find that one at the moment. > Here's the HAL section for the X axis: > [AXIS_X] > MIN_LIMIT = -0.04 > MAX_LIMIT = 13.5 > MAX_VELOCITY = 3.0 > MAX_ACCELERATION = 15 > #******************** > # Joint 0 > #******************** > [JOINT_0] > TYPE = LINEAR > HOME = 0.0 > FERROR = 0.5 > MIN_FERROR = 0.1 > MAX_VELOCITY = 3.0 > MAX_ACCELERATION = 15 > # The values below should be 25% larger than MAX_VELOCITY and > MAX_ACCELERATION > # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. > STEPGEN_MAXVEL = 3.75 > STEPGEN_MAXACCEL = 30 > P = 1000.0 > I = 0.0 > D = 0.0 > FF0 = 0.0 > FF1 = 1.0 > FF2 = 0.0 > BIAS = 0.0 > DEADBAND = 0.0 > MAX_OUTPUT = 0.0 > # these are in nanoseconds > DIRSETUP = 30000 > DIRHOLD = 30000 > STEPLEN = 3000 > STEPSPACE = 3000 > STEP_SCALE = 15000.0 > MIN_LIMIT = -0.04 > MAX_LIMIT = 13.5 > # tested backlash at 4.2" from home 14MAR2020 > BACKLASH = 0.023 > HOME_OFFSET = -0.1 > HOME_SEARCH_VEL = -0.8 > HOME_LATCH_VEL = 0.01 > HOME_FINAL_VEL = 0.2 > HOME_IGNORE_LIMITS = YES > HOME_VOLATILE = 1 > HOME_SEQUENCE = 1 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
