- Hardware & Machines
- CNC Machines
- Milling Machines
- A-M-C A12A100 Servo Drive with SouthWestern Ind ProtoTrak Plus
A-M-C A12A100 Servo Drive with SouthWestern Ind ProtoTrak Plus
12 Feb 2021 18:53 #198562
by PCW
Replied by PCW on topic A-M-C A12A100 Servo Drive with SouthWestern Ind ProtoTrak Plus
Unfortunately those traces are not of much use.
You need a trace like the previous one:
forum.linuxcnc.org/media/kunena/attachme...45f2-.1236feed20.png
with a jog showing acceleration and a constant speed region (the regions Todd circled)
You tune FF1 first to minimize the following error during constant speed motion
Then you tune FF2 to minimize the error during acceleration and deceleration
You need a trace like the previous one:
forum.linuxcnc.org/media/kunena/attachme...45f2-.1236feed20.png
with a jog showing acceleration and a constant speed region (the regions Todd circled)
You tune FF1 first to minimize the following error during constant speed motion
Then you tune FF2 to minimize the error during acceleration and deceleration
The following user(s) said Thank You: new2linux
Please Log in or Create an account to join the conversation.
12 Feb 2021 19:22 - 12 Feb 2021 20:33 #198563
by new2linux
Replied by new2linux on topic A-M-C A12A100 Servo Drive with SouthWestern Ind ProtoTrak Plus
PCW, Thanks for your help!! Attached is a pic of low P as you have suggested. Feed rate 50.9"/min!! Many thanks!
Edit: New pics, better f-error? 1 trace with FF2, 1 w/o FF2. Tried to be in center of the zone. I will work this over the weekend, please point out any suggestions or I will work with the guidance provided. many thanks!! Take notice the units are not uniform!
Edit: New pics, better f-error? 1 trace with FF2, 1 w/o FF2. Tried to be in center of the zone. I will work this over the weekend, please point out any suggestions or I will work with the guidance provided. many thanks!! Take notice the units are not uniform!
Last edit: 12 Feb 2021 20:33 by new2linux. Reason: add pic
Please Log in or Create an account to join the conversation.
12 Feb 2021 19:32 #198564
by PCW
Replied by PCW on topic A-M-C A12A100 Servo Drive with SouthWestern Ind ProtoTrak Plus
So you still have a FF2 value set, it should be 0 at this point
Next step is to dial in FF1
Next step is to dial in FF1
The following user(s) said Thank You: new2linux
Please Log in or Create an account to join the conversation.
13 Feb 2021 18:51 - 13 Feb 2021 19:17 #198701
by new2linux
Replied by new2linux on topic A-M-C A12A100 Servo Drive with SouthWestern Ind ProtoTrak Plus
PCW many thanks, for your help!! I have worked on this a great deal, but only saved the pics you see. Only 1 of the 3 has any FF2, the units for the scale are not the same in all pics. The best error looks to be under 3 units (in the higher scale, even though the trace looks like no improvement) around 2.8 in 5m/unit scale. When adjusting the settings, I was tiring to flatten out the f error trace.
Many thanks!
PCW, this is from another post, can FF1 be calculated?:
PCW, I have read this (calculating FF1) several times, can I work with? This is from this link, tommylight as written: forum.linuxcnc.org/10-advanced-configura...ning-detailed-how-to
"Added 22.08.2019
-PCW mentioned several times that the FF1 value can be:
You either calculate FF1 (10/velocity@10V)
or
scale the analog output in velocity in which case FF1 = 1.0"
Many thanks!
PCW, this is from another post, can FF1 be calculated?:
PCW, I have read this (calculating FF1) several times, can I work with? This is from this link, tommylight as written: forum.linuxcnc.org/10-advanced-configura...ning-detailed-how-to
"Added 22.08.2019
-PCW mentioned several times that the FF1 value can be:
You either calculate FF1 (10/velocity@10V)
or
scale the analog output in velocity in which case FF1 = 1.0"
Last edit: 13 Feb 2021 19:17 by new2linux. Reason: Ask question
Please Log in or Create an account to join the conversation.
13 Feb 2021 22:14 #198737
by PCW
Replied by PCW on topic A-M-C A12A100 Servo Drive with SouthWestern Ind ProtoTrak Plus
What mode are you running the drive in? It does not appear to be running in velocity mode
Please Log in or Create an account to join the conversation.
13 Feb 2021 22:58 - 13 Feb 2021 23:09 #198743
by new2linux
Replied by new2linux on topic A-M-C A12A100 Servo Drive with SouthWestern Ind ProtoTrak Plus
PCW, Current mode. I will edit my 1st post.
many thanks
This is new traces with very low FF1 & FF2, feed rate 60"/min!! The file name has settings or read from the pic. ALL prior tuning had DeadBand set to a value, this is not the case now. The units are not uniform, see the screen shot.
many thanks!
many thanks
This is new traces with very low FF1 & FF2, feed rate 60"/min!! The file name has settings or read from the pic. ALL prior tuning had DeadBand set to a value, this is not the case now. The units are not uniform, see the screen shot.
many thanks!
Last edit: 13 Feb 2021 23:09 by new2linux. Reason: add pic
Please Log in or Create an account to join the conversation.
14 Feb 2021 01:34 - 14 Feb 2021 14:57 #198771
by PCW
Replied by PCW on topic A-M-C A12A100 Servo Drive with SouthWestern Ind ProtoTrak Plus
Ok for a single LinuxCNC PID loop driving a torque mode drive I would try this:
Start with all PID settings=0 except a bit of P, say 10 or 20
1. Set D as high as possible without buzzing/oscillation
2. Then set P as high as possible without oscillation
3. Next tune FF2 for the lowest following error during accel/decel
4. Finally increase I until you get oscillation (watch out you can get large motion)
then set I to about 1/2 the value that first caused oscillation
Start with all PID settings=0 except a bit of P, say 10 or 20
1. Set D as high as possible without buzzing/oscillation
2. Then set P as high as possible without oscillation
3. Next tune FF2 for the lowest following error during accel/decel
4. Finally increase I until you get oscillation (watch out you can get large motion)
then set I to about 1/2 the value that first caused oscillation
Last edit: 14 Feb 2021 14:57 by PCW.
The following user(s) said Thank You: new2linux
Please Log in or Create an account to join the conversation.
14 Feb 2021 13:50 - 14 Feb 2021 19:00 #198806
by new2linux
Replied by new2linux on topic A-M-C A12A100 Servo Drive with SouthWestern Ind ProtoTrak Plus
PCW, Many, many thanks!! As be clear is:
"1. Set D as high as possible with buzzing/oscillation"
or is that "with" or "without"?
many thanks!
Attached are the latest halscope trace. The file name has the settings, units are not sorted.
Many thanks
"1. Set D as high as possible with buzzing/oscillation"
or is that "with" or "without"?
many thanks!
Attached are the latest halscope trace. The file name has the settings, units are not sorted.
Many thanks
Last edit: 14 Feb 2021 19:00 by new2linux.
Please Log in or Create an account to join the conversation.
14 Feb 2021 14:57 #198810
by PCW
Replied by PCW on topic A-M-C A12A100 Servo Drive with SouthWestern Ind ProtoTrak Plus
without
The following user(s) said Thank You: new2linux
Please Log in or Create an account to join the conversation.
15 Feb 2021 19:07 - 15 Feb 2021 19:10 #198960
by new2linux
Replied by new2linux on topic A-M-C A12A100 Servo Drive with SouthWestern Ind ProtoTrak Plus
PCW, Many thanks! Attached are several pic of the hal trace. There is an order the gain values are not uniform, please see pic for settings. The feed rate was only 29"/min. Did not see the big oscillation, as though with the "I".
many thanks!
Edit: PCW, this is from another post, can FF1 be calculated?:
PCW, I have read this (calculating FF1) several times, can I work with? This is from this link, tommylight as written: forum.linuxcnc.org/10-advanced-configura...ning-detailed-how-to
"Added 22.08.2019
-PCW mentioned several times that the FF1 value can be:
You either calculate FF1 (10/velocity@10V)
or
scale the analog output in velocity in which case FF1 = 1.0"
many thanks!
Edit: PCW, this is from another post, can FF1 be calculated?:
PCW, I have read this (calculating FF1) several times, can I work with? This is from this link, tommylight as written: forum.linuxcnc.org/10-advanced-configura...ning-detailed-how-to
"Added 22.08.2019
-PCW mentioned several times that the FF1 value can be:
You either calculate FF1 (10/velocity@10V)
or
scale the analog output in velocity in which case FF1 = 1.0"
Last edit: 15 Feb 2021 19:10 by new2linux. Reason: calculating FF1
Please Log in or Create an account to join the conversation.
Moderators: piasdom
- Hardware & Machines
- CNC Machines
- Milling Machines
- A-M-C A12A100 Servo Drive with SouthWestern Ind ProtoTrak Plus
Time to create page: 0.155 seconds