Set up using AMC AB15A100 drives, brushed DC motor Prototrak Plus with Encoders

I believe this is correct, I used the counter on the screen (I did not see any numbers on the left side of screen) so please review.

Edit: I am trying to start the servo tuning, the 1 to 4 (pins?) that is monitored on hal scope are (these may not be spelled correctly):
Joint.n.motor-pos-cmd
Joint.n.f-error
or
Axis 0 motor pos cmd
axis 0 f-error
pid x ouput
hm2_5i25.0.encoder.00.velocity

or something else, I am reading tommylight servo tuning.

I have started the tuning process, in tommylight's post, PCW, says:
"-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

Explanation: that is in case you know the maximum velocity the drive/motor combo can do at 10V analog input to the drive.
An initial P value of 1 is probably OK
Remove the maxerror lines in the hal file, if you dont have the maxerror lines removed, you will no be able to tune."

It seems if this variable can be locked in as a known value it make the other easier to figure out. How to do this with confidence that it is correct??

Many thanks for all the great help. I asked the A-M-C engineer to review the diagram, the suggestion to add a wire from A-M-C (P1-pin 11 GND) to 7i77 card (TB-3 pin 3 GND) attached is the diagram.
After rereading tommylight's tuning procedure, & pondering the tuning process and reviewing PCW's suggestion to: calculate FF1 (10/velocity@10V) I would think this nails down 1 of the variables in the PID. Does this apply to how my system is configured?

Many thanks

The A-M-C engineer has suggested the following to set Pot 3:

"Pot 3 will need to be adjusted to set the reference gain properly. This will set the ratio of voltage input to output command. While in operating in velocity mode, you will be commanding the velocity.
To set this ratio, we recommend setting the reference command to 1VDC, then set the reference gain potentiometer to desired speed at this point.
This will set the ratio of output speed to input voltage.
For example, if commanding setting the reference gain to command 300rpm @ 1VDC, this will set the reference gain to 300rpm/VDC.
Using the above reference gain, a max speed of 3000rpm @ 10VDC is achievable."

After pondering this it seem to me that a reading needs to be taken (from specific location) in addition to an adjustment, but not shore where?

Many thanks

Attached are 2 pic of the tuning, so far. I am using jointnmotor_pos_cmd as the "source chan" but only 15 "/min feed. I am having some issue getting the feed faster than 15"/min.
Many thanks!

I would start again with all PID terms other than P and FF1 set to 0
as a start, Set P = 1 and FF1 to say .5 and plot the results

Never use any D or I on velocity mode drives until you get to the very last
stages of tuning. From the plots I would say the either P as way too high
or you don't actually have the drives running in velocity mode, so

1. Are there drives running velocity mode and have the tachometers connected?
2. If they are running in velocity mode, have you tuned the drives reference gain and loop gain?

Many, many thanks, PCW for all you do. The drives are set to run in velocity mode w/o tachometers. I am not shore I know how to start to tune reference gain and loop gain.

The A-M-C engineer has suggested the following to set Pot 3:

"Pot 3 will need to be adjusted to set the reference gain properly. This will set the ratio of voltage input to output command. While in operating in velocity mode, you will be commanding the velocity.
To set this ratio, we recommend setting the reference command to 1VDC, then set the reference gain potentiometer to desired speed at this point.
This will set the ratio of output speed to input voltage.
For example, if commanding setting the reference gain to command 300rpm @ 1VDC, this will set the reference gain to 300rpm/VDC.
Using the above reference gain, a max speed of 3000rpm @ 10VDC is achievable."

I have read your post about:

"-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

Is this in the .hal file to set FF1 to = 1.0? or does this not apply to my application?

Many thanks!

Edit: A-M-C engineer email:
This will require the encoder feedback being monitored by the PLC.
Once the motor speed is read by the PLC, then command the drive by setting a 1VDC via the PLC, and then adjusting the speed to the desired setpoint via Pot3.
Doing this should set the appropriate reference gain

This is monitored at the hal scope, but what pin or address?

Many thanks!!

"The drives are set to run in velocity mode w/o tachometers"

This will not work unless the drives have some velocity feedback
are the encoders connected to the drives?

As far as reading the velocity that would be the hal encoder velocity pin:
hm2_5i25.0.encoder.0X.velocity (scale in machine units per second)

Yes, encoders work & record in correct direction as per Linuxcnc logo.

Many thanks!

Are the encoders connected to the drives?