A-M-C A12A100 Servo Drive with SouthWestern Ind ProtoTrak Plus

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18 Feb 2021 15:12 #199265 by PCW
What are your following error limits?

Can you plot at higher speeds (by widening your following error limits)
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18 Feb 2021 15:39 #199270 by Todd Zuercher
The one with FF1=1.36 looks about the best for that setting. What happens at various speeds, both slower and faster up to your expected max feed rate?

Once you have your feed forwards set, try increasing your P term back up to about 4000, (May need to adjust the D to limit oscillations.)
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18 Feb 2021 15:42 - 18 Feb 2021 15:44 #199271 by new2linux
PCW, Many thanks! The "following error limits" are in the .ini file, correct. This is a copy and paste of that section. Currently set at .05, you are suggesting to go to how much? many thanks

********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
P = 2280
I = 22.01
D = 36
FF0 = 0
FF1 = 1.36
FF2 = 0.227
BIAS = 0
DEADBAND = 3e-05
MAX_OUTPUT = 0
ENCODER_SCALE = -27500
OUTPUT_SCALE = -10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -12.0
MAX_LIMIT = 12.0
HOME_OFFSET = 0.0

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
P = 3700
I = 0
D = 65.4
FF0 = 0
FF1 = 66.7
FF2 = 0.645
BIAS = 0
DEADBAND = 3e-05
MAX_OUTPUT = 0
ENCODER_SCALE = 27500
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -6.0
MAX_LIMIT = 6.0
HOME_OFFSET = 0.0

Todd, just read you suggestion, I will work this in. Many thanks!
Last edit: 18 Feb 2021 15:44 by new2linux.

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18 Feb 2021 15:46 #199272 by PCW
Could you post your complete hal file?

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18 Feb 2021 15:49 - 18 Feb 2021 15:51 #199274 by new2linux
Todd, Many thanks!! If the feed is set faster it will error out, I never set lower feed unless consistence error out occurred, so I could try FF1 setting. many thanks
Last edit: 18 Feb 2021 15:51 by new2linux.

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18 Feb 2021 15:50 #199276 by new2linux
PCW many thanks for your help!! the hal file is attached.
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18 Feb 2021 17:29 #199306 by new2linux
Todd and PCW Many thanks for hanging in there with me! Attached are several pics of the tuning process. As I changed the values I would revisit the other settings with very small changes, so no real logic. Quickest feed is 25.5", the last pic.

Many thanks!!
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18 Feb 2021 17:41 #199310 by PCW
Can you do a plot when you trip the following error?

(and scale the ferror so it does not go off screen)
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18 Feb 2021 17:50 - 18 Feb 2021 17:56 #199311 by new2linux
PCW, many thanks!! Attached is pic of error at 25.5" feed. many thanks!

Edit: I see the units are on top of each other, they read as, motor pos cmd 20/div; f error 20m/div; pid x output 50/div and the last is 50m/div.
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Last edit: 18 Feb 2021 17:56 by new2linux.

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18 Feb 2021 18:19 #199319 by PCW
if the PID output is 50 per division then the output was
saturated (at 10) at the very beginning of motion so its likely
you have a drive or drive wiring error
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