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Set up using AMC AB15A100 drives, brushed DC motor Prototrak Plus with Encoders
- Todd Zuercher
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27 May 2022 13:33 #243986
by Todd Zuercher
Replied by Todd Zuercher on topic Set up using AMC AB15A100 drives, brushed DC motor Prototrak Plus with Encoders
The PID settings are saved in your ini file. What you linked to is a hal pin list for your Mesa cards. The PID info is not listed there.
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27 May 2022 13:41 - 27 May 2022 14:13 #243987
by new2linux
Replied by new2linux on topic Set up using AMC AB15A100 drives, brushed DC motor Prototrak Plus with Encoders
Todd, this is not the .ini file or is it? Thanks.ini attached
Edit: Attached are the errors from start up;
Edit: Attached are the errors from start up;
Last edit: 27 May 2022 14:13 by new2linux. Reason: attached .ini and Errors
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27 May 2022 14:30 #243990
by Todd Zuercher
Replied by Todd Zuercher on topic Set up using AMC AB15A100 drives, brushed DC motor Prototrak Plus with Encoders
Yes that is your ini file.
I would suggest the following changes to your ini for initial setting, Hopefully they will stop the instant joint following error alarms and allow you to move on to tuning.
I would suggest the following changes to your ini for initial setting, Hopefully they will stop the instant joint following error alarms and allow you to move on to tuning.
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 2.0
MIN_FERROR = 2.0
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
P = 1
I = 0
D = 0
FF0 = 0
FF1 = 1.0
FF2 = 0
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
#FF1LIMIT = 0.84
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 2.0
MIN_FERROR = 2.0
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
P = 1
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
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
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27 May 2022 14:43 #243991
by Todd Zuercher
Replied by Todd Zuercher on topic Set up using AMC AB15A100 drives, brushed DC motor Prototrak Plus with Encoders
It is still possible that a scale direction is reversed and will cause an immediate run-away that will need to be fixed. Zeroing out most of the PID settings and starting with a low P value, should slow down what is happening so we can see what is going on.
The first thing you need to determine is if the encoder scale is in the correct direction. If the encoder scale direction is wrong, simply change the sign of the encoder scale in your ini file (or the Calibration window from the Machine menu). If the encoder scale is counting in the correct direction, but the joint still runs away, then the output scale sign would have to be changed.
The first thing you need to determine is if the encoder scale is in the correct direction. If the encoder scale direction is wrong, simply change the sign of the encoder scale in your ini file (or the Calibration window from the Machine menu). If the encoder scale is counting in the correct direction, but the joint still runs away, then the output scale sign would have to be changed.
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27 May 2022 15:01 #243993
by new2linux
Replied by new2linux on topic Set up using AMC AB15A100 drives, brushed DC motor Prototrak Plus with Encoders
Todd, thanks!! I have edited the .ini file (all I need is to save, not reboot, correct) and started linuxcnc, as soon as F2 is down the "y" axes motor will spin up fast and joint error will occur. The x axes has good resistance to turn by hand, I don't have long to test this before joint following error stops all. Green LEDs until joint following error.
Many thanks!
Many thanks!
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27 May 2022 15:08 #243994
by new2linux
Replied by new2linux on topic Set up using AMC AB15A100 drives, brushed DC motor Prototrak Plus with Encoders
Todd, run away condition; "then the output scale sign would have to be changed." so need a - before the " OUTPUT_SCALE = -10 ".
So make the x & y look the same in this area of .ini file.
thanks!
So make the x & y look the same in this area of .ini file.
thanks!
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27 May 2022 15:24 #243996
by new2linux
Replied by new2linux on topic Set up using AMC AB15A100 drives, brushed DC motor Prototrak Plus with Encoders
Todd, Thanks for all your help!! The .ini file is attached. When powered up the motors have no motion; press F2 down y motor moves .009" as per DRO & oscillate or vibrate ever so lightly. Now is the time to assemble on the mill?
Many thanks!!
Many thanks!!
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27 May 2022 15:39 #243997
by Todd Zuercher
Replied by Todd Zuercher on topic Set up using AMC AB15A100 drives, brushed DC motor Prototrak Plus with Encoders
Yes I think you are ready to install the motors in the machine and start tuning them.
One more change I would suggest making to your ini file is to remove the line "FF1LIMIT = 0.84" from the X-axis section.
As to making changes to your ini file, you only have to save the file. You do not have to restart the whole computer. But if Linuxcnc was running when you make a change to the ini file using a text editor you will need to exit and restart Linuxcnc (but not reboot the computer) for your changes to take effect. If however you are making changes to the PID settings in the Calibration window (while Linuxcnc is running.) Those changes take effect immediately when you press the Test button, and will be saved to the ini file when you press the Save button.
One more change I would suggest making to your ini file is to remove the line "FF1LIMIT = 0.84" from the X-axis section.
As to making changes to your ini file, you only have to save the file. You do not have to restart the whole computer. But if Linuxcnc was running when you make a change to the ini file using a text editor you will need to exit and restart Linuxcnc (but not reboot the computer) for your changes to take effect. If however you are making changes to the PID settings in the Calibration window (while Linuxcnc is running.) Those changes take effect immediately when you press the Test button, and will be saved to the ini file when you press the Save button.
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27 May 2022 16:02 - 27 May 2022 16:04 #243998
by new2linux
Replied by new2linux on topic Set up using AMC AB15A100 drives, brushed DC motor Prototrak Plus with Encoders
Todd, I deleted the line "FF1LIMIT = 0.84" but got (see attached) error, so I pasted it back in and linuxcnc ran as it had.
Last edit: 27 May 2022 16:04 by new2linux.
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27 May 2022 17:00 - 27 May 2022 17:01 #244000
by Todd Zuercher
Replied by Todd Zuercher on topic Set up using AMC AB15A100 drives, brushed DC motor Prototrak Plus with Encoders
Ok, Line number 41 of your hal file is referencing that line in your ini file.
You would have to either comment out or remove both of those lines in your ini and hal files. (to comment out a line simply place a # at the beginning of the line.)
You would have to either comment out or remove both of those lines in your ini and hal files. (to comment out a line simply place a # at the beginning of the line.)
Last edit: 27 May 2022 17:01 by Todd Zuercher.
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