Ethercat HAL configuration for Beckhoff EL7041 without encoder

Hello Hawkeye

Thanks for sharing your good news!
In the main LinuxCNC window use the Maximum Velocity slider to reduce the maximum velocity. This should allow your machine to move without error.

Allan

It sounds like you need to do some more tuning. Some FF1 should probably help. Have you read some of the servo tuning tutorials for Linuxcnc?

Hello Allan,

indeed, I can reduce velocity with this controller, but this is no real solution.
The motor is still not working fine.
Even my homing script for x-axis required higher rapid velocity afer touching the home switch.
So, I need help on the configuration and fine tuning of the EL7041 controller.

Hello Todd,

I can read about all the values ( linuxcnc.org/docs/2.5/html/man/man9/pid.9.html ),
but I don't have an unterstanding how they work together.
At this point, it would be an task of try and error and hope to me to set the proper values.
I tought someone already tried this components the same way.
E.g. my script for setting up the EL7041 is removing any signal->action delays for the motor.
Or would it be useful in a cnc environment to do so? Thinking about overshoot and startup delay of the motor,
it was senseful to me to change this settings to "0".

Regards,
Ben

You need to use Halscope a built-in oscilloscope application in Linuxcnc to look at velocity commands and following errors.

Here is a good tutorial.
gnipsel.com/linuxcnc/tuning/servo.html

Hello Hawkeye

I agree that it is not a solution. Slowing your motors was just to allow you to drive it and check that everything is wired and moving correctly. Searching for LInuxCNC PID on YouTube will give you a number of good tutorials. If you understand German I can recommend one in particular.

Allan