linuxcnc+ethercat drives the AKD servo motor it cannot be moved

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30 Jun 2021 21:00 #213370 by wang
hi
No, I did not see location feedback on linuxcnc

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30 Jun 2021 21:11 #213374 by wang
hi
Sorry, I didn’t understand what you mean, I’m a novice
Which parameters should I change?
Thank you for your patient guidance

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30 Jun 2021 21:27 #213377 by db1981
first check the feedback...

open hal show (Menu -> Show hal configuration) navigate to pins -> lcec > 0 > 0 > your feedback pin and check if the value changes, while turning the motor shaft.
The following user(s) said Thank You: wang

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30 Jun 2021 21:41 #213381 by wang
Thank you
Following your guidance, I found no feedback

 
Attachments:

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30 Jun 2021 21:50 #213385 by wang
Thank you...
I modified the hal file, and now there is feedback, but the parameter is too large to exceed the stroke

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30 Jun 2021 22:10 #213390 by wang
thank you
I have another question
What statement should be used to set the scale?

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01 Jul 2021 00:47 #213398 by wang
hi

Thank you for your continued help

I have the following error, do you know how to solve it
emc/task/taskintf.cc 947: Error on joint 0, command number 122
task: main loop took 0.037478 seconds
task: main loop took 0.088289 seconds
joint 0 following error
emc/task/taskintf.cc 947: Error on joint 0, command number 162
task: main loop took 0.037100 seconds
task: main loop took 0.055096 seconds
joint 0 following error
emc/task/taskintf.cc 947: Error on joint 0, command number 202
task: main loop took 0.036831 seconds
task: main loop took 0.046237 seconds

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07 Sep 2021 14:19 #219854 by wang
Thank you for your reply, I have read your explanation before.
According to your explanation, I changed my scale to
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="-1000000"/>
<pdoEntry idx="6064" subIdx ="00" bitLen="32" halPin="pos" halType="float" scale="-0.000001"/>

Only in this way can my movement axis be stable, but when I issue an instruction to move 1mm, the actual movement is not 1mm but about 6mm.

I use AKD drives and linear motors. I don't know what kind of algorithm should be used to calculate the scale to fully adapt linuxcnc to my machine tool. I want the instruction to move 1mm to make the motor actually move 1mm.


Looking forward to your reply, I want to know what this algorithm looks like, rather than simply changing a certain value.

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07 Sep 2021 21:27 #219883 by db1981
That depends on the scaling setup in the AKD Drive. increments / 1 Motor revolution + Mechanical transmission.

How is this axis mechanical build? Screw pitch, toothbelt ?

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08 Sep 2021 07:05 #219914 by wang
I use an AKD drive + linear motor, but I am also using a linear motor for the first time, and I don't know much about the parameters required to set the scale.

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