Cincinnati Cintimatic Anilam Crusader M 5i25_7i77
08 May 2015 09:50 #58501
by jtektool
Cincinnati Cintimatic Anilam Crusader M 5i25_7i77 was created by jtektool
Retrofit I'm getting the nerve to boot up soon. Need to confirm all jumpers and signals though.
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08 May 2015 10:08 - 17 Jan 2016 06:39 #58502
by jtektool
Replied by jtektool on topic Cincinnati Cintimatic Anilam Crusader M 5i25_7i77
Last edit: 17 Jan 2016 06:39 by jtektool. Reason: Added YouTube link
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08 May 2015 21:46 - 08 May 2015 21:51 #58508
by jtektool
Replied by jtektool on topic Cincinnati Cintimatic Anilam Crusader M 5i25_7i77
Last edit: 08 May 2015 21:51 by jtektool.
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08 May 2015 22:18 - 09 May 2015 00:52 #58509
by jtektool
Replied by jtektool on topic Cincinnati Cintimatic Anilam Crusader M 5i25_7i77
So, I have basically only four (pairs) of gpio wires coming into the box. E-Stop (source +24v), Limit-OK (source +24v), Servo Enable (sink via relay), Servo Reset (sink via relay). The E-stop and Limit-OK are wired directly to 7i77 inputs. I am using a separate (24v) power supply for relay logic (panasonic ice cubes with flyback diodes) with + side of coil wired to outputs and - side wired to (7i77) field logic ground. My encoders are single ended glass scales. My jumper settings are:
W1: Left
W2: Right
W3: Right
W4: Left
W5: Left
W12: Left
Encoder Jumpers are all Left.
Do I have Anything wrong?
W1: Left
W2: Right
W3: Right
W4: Left
W5: Left
W12: Left
Encoder Jumpers are all Left.
Do I have Anything wrong?
Last edit: 09 May 2015 00:52 by jtektool.
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17 Jan 2016 06:36 #68574
by jtektool
Replied by jtektool on topic Cincinnati Cintimatic Anilam Crusader M 5i25_7i77
Now off to tune FF1 and FF2. P is stable at 15. I is set at 0 as is D. FF0 is also 0. FF1 is showing stability at around 3.6 so FF2 is smoothing out at around 0.6
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18 Jan 2016 15:25 #68687
by andypugh
Replied by andypugh on topic Cincinnati Cintimatic Anilam Crusader M 5i25_7i77
FF1 should probably be determined by calculation rather than experimentation.
it will only work properly if the PID component has the command-deriv pin connected.
it will only work properly if the PID component has the command-deriv pin connected.
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19 Jan 2016 17:30 - 19 Jan 2016 18:00 #68771
by jtektool
Replied by jtektool on topic Cincinnati Cintimatic Anilam Crusader M 5i25_7i77
Well, so far I have tried those numbers (calculated) and the results on both the oscilloscope and just observation were pretty bad, in with respect to how quick it would throw a following error (When the following error was set pretty high), I also took some screenshots of axis.0.joint-vel-cmd graphed against axis.0.f-error. Anyhow so far I was able to lower the following error down and down as I have adjusted these numbers and examined the graphs. Any input would be greatly appreciated at this point.
Screenshot - P-15_I-0_D-0_FF0-0.0_FF1-4.4_FF2-0.7
Screenshot - P-15_I-0_D-0_FF0-0.0_FF1-4.2_FF2-0.7
Screenshot - P-15_I-0_D-0_FF0-0.0_FF1-3.9_FF2-0.7
Screenshot - P-15_I-0_D-0_FF0-0.0_FF1-3.6_FF2-0.6
Screenshot - P-15_I-0_D-0_FF0-0.0_FF1-3.5_FF2-0.67
Screenshot - P-15_I-0_D-0_FF0-0.0_FF1-4.4_FF2-0.7
Screenshot - P-15_I-0_D-0_FF0-0.0_FF1-4.2_FF2-0.7
Screenshot - P-15_I-0_D-0_FF0-0.0_FF1-3.9_FF2-0.7
Screenshot - P-15_I-0_D-0_FF0-0.0_FF1-3.6_FF2-0.6
Screenshot - P-15_I-0_D-0_FF0-0.0_FF1-3.5_FF2-0.67
Last edit: 19 Jan 2016 18:00 by jtektool.
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19 Jan 2016 23:00 - 19 Jan 2016 23:01 #68783
by jtektool
Replied by jtektool on topic Cincinnati Cintimatic Anilam Crusader M 5i25_7i77
Another question I would have is what kind of reasonable expectations for following error should I have on this machine? The encoders are only 1270 count, I.E. my scale is at 2540. So far I HAVE been able to achieve 90 IPM, with lots of moves with my FERROR = .5 , MIN_FERROR = .200. P =15, FF1=3.5, FF2=.5725. What should FF1 and FF2 be by calculation?
Last edit: 19 Jan 2016 23:01 by jtektool.
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20 Jan 2016 14:27 #68823
by andypugh
You can't really expect to be less than 4 encoder counts from the setpoint.
So, if your machine is Imperial and your scale is 2540 then the expected accuracy is 0.0015"
If your machine is metric then it is 0.0015mm, and in that scenario the machine hardware is the limit, not the encoders and controls.
Replied by andypugh on topic Cincinnati Cintimatic Anilam Crusader M 5i25_7i77
Another question I would have is what kind of reasonable expectations for following error should I have on this machine? The encoders are only 1270 count, I.E. my scale is at 2540.
You can't really expect to be less than 4 encoder counts from the setpoint.
So, if your machine is Imperial and your scale is 2540 then the expected accuracy is 0.0015"
If your machine is metric then it is 0.0015mm, and in that scenario the machine hardware is the limit, not the encoders and controls.
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22 Jan 2016 23:02 - 22 Jan 2016 23:03 #68941
by jtektool
Replied by jtektool on topic Cincinnati Cintimatic Anilam Crusader M 5i25_7i77
So ladies and gentlemen, here is what I figured out:
If you are convetring an Anilam system, it's probably best to manually tune the Westamp drives before proceeding with anything else!
Here is the procedure that I used:
Westamp Manual Tuning
Here is the text if the link ever breaks:
If you are convetring an Anilam system, it's probably best to manually tune the Westamp drives before proceeding with anything else!
Here is the procedure that I used:
Westamp Manual Tuning
Here is the text if the link ever breaks:
Warning: Spoiler!
Set the following pots out of the circuit. Don’t have anything connected to the servo cards. The resistance readings are to be within 10%-20% and set in respect to common test points.
1, Locate R2 on drawing AUX POT no adjustment needed
2, Locate R12, TAC POT normally it is sealed, check and set for 6.65 K ohm. Find R13 and connect your meter lead to the right side as shown on diagram. This is the second resistor down in the center band of resistors between pots, turn the pot until you reach 6.65 K ohms.
3, Locate R15, TC POT, Set for 1.25 K ohm from the right side of C7 top capacitor in between the pots.
4, Locate R28, CKM POT. This pot should be turned fully clockwise. Set for 2.5 K ohm from right side of R29. This is the top resistor under the hole located in the lower left side of the AUX POT.
5, Locate R23, BAL POT, Caution move your meter lead off to the common and on to the J3-1 pin (-15 V.D.C.) set the pot for 6.4 K ohm from the right side of R22, it is the second resistor below the balance pot.
6, Locate R5 SIG POT, Caution this must be set only when the servo card is back on the circuit. Set for 5.4 K ohm from the left side or R6. This is the third resistor below the SIG POT.
1, Locate R2 on drawing AUX POT no adjustment needed
2, Locate R12, TAC POT normally it is sealed, check and set for 6.65 K ohm. Find R13 and connect your meter lead to the right side as shown on diagram. This is the second resistor down in the center band of resistors between pots, turn the pot until you reach 6.65 K ohms.
3, Locate R15, TC POT, Set for 1.25 K ohm from the right side of C7 top capacitor in between the pots.
4, Locate R28, CKM POT. This pot should be turned fully clockwise. Set for 2.5 K ohm from right side of R29. This is the top resistor under the hole located in the lower left side of the AUX POT.
5, Locate R23, BAL POT, Caution move your meter lead off to the common and on to the J3-1 pin (-15 V.D.C.) set the pot for 6.4 K ohm from the right side of R22, it is the second resistor below the balance pot.
6, Locate R5 SIG POT, Caution this must be set only when the servo card is back on the circuit. Set for 5.4 K ohm from the left side or R6. This is the third resistor below the SIG POT.
Last edit: 22 Jan 2016 23:03 by jtektool.
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