Fehlmann Picomax 100 Retrofit

Next the x axis, was similarly straight forward. by cutting a new register ring on the lathe:

drilling and tapping for the ne bolt pattern:

and the the X-axis is done

 

so to the Z Axis. Again staring in the lathe:

Drilling and Tapping

here the small for factor helps to fit the square servo in the old round mounting hardware:

After adjusting the the sprocket the Z- Axis was also done

 
last the 4th axis is a bit more trouble, I needed a while to figure out how to disassemble it:

here I transferred the hole pattern from the mounting plate the to new spacer:

and the new servo can be mounted:

but here it ended while widening the bore of the new coupler to fit the new servo shaft I scrapped the part:

with this I decided to stop for now and wat of a new coupler to arrive. When It's here I will continue and start ti figure out How I will route the wired for the new servos. I don't think I will us the same paths as the old ones, cars the connectors won't fit.


 

With the new shaft coupling arrives, I was able to fit it to the A-Axis:

Next is to figure out how to protect servo an brake from chips, the old housing won't fit anymore.
Maybe I'll simply print something and cover it with Aluminium if needed.

I rerouted the Z-Axis wire, cause there was no way I could route it through the old duct ways, so I made a small cut in the casting and printed a cable guide. Maybe I' make a cover in the Machinehead later to protect the cables from a ripping belt.

Last was some cleaning before preparing to route the X-, Y- and A-Axis cable through the machine base:

And I wonder if I should use the encoder signals from the servos. Having glas scales I didn't need them.
But maybe they give me a finer resolution 0.0016 mm vs 0.005 mm for X and Y, for A I need to use the new servo anyway and Z I actually don't know the difference, cause I don't know the gear reduction.
 

Lets find out if someone is reading here...

I've got the servo drives setup an did some first test. The encoders will give me a better resolution than the old glas scales. so I connected the encoder output from the drives to the mesa cards.
So far so good.

now I've got a problem, the first drive is just oscillating when controlled by linuxcnc
the drives work with +- 10V

My hal setting:

setp hm2_7i97.0.pwmgen.00.output-type 2 #PWM up on pin0, #PWM down on pin1
setp hm2_7i97.0.pwmgen.00.offset-mode 0 # offset mode so 50% = 0
setp hm2_7i97.0.pwmgen.00.scale [JOINT_0]OUTPUT_SCALE

# PID tuning params
DEADBAND = 0.000015
P = 100
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0

now I disconnected the motor and when I turn the the spindle, can look at the output:

pwmgen.00.value -50 -> 50mv on drive

pwmgen.00.value -100 -> 9750mv on drive

pwmgen.00.value 100 -> -9750mv on drive

is this OK / normal O do I have something misconfigured here?

For the first issue see here:
forum.linuxcnc.org/10-advanced-configura...ning-detailed-how-to
For the second, it seems the scaling is not right, and you can change the direction of the output by simply putting a - in front of the SCALE value.
-
Oh yes, we are reading...