Bridgeport Torq Cut 22 Retrofit

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10 Dec 2020 15:25 - 10 Dec 2020 15:27 #191581 by PCW
Replied by PCW on topic Bridgeport Torq Cut 22 Retrofit
No, I would leave P alone and just make a small change in FF1 (say to 0.9 or 1.1)
and see which direction you need to go. FF1 will not affect any wobble but will
affect the static offset that's proportional to speed.
Last edit: 10 Dec 2020 15:27 by PCW.

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10 Dec 2020 16:35 #191584 by Michael
That just confuses me even more. What part of the ferror graph am I trying to fix then. I have tried moving FF1 around and it isn't changing anything. The best tune I got was with P=450 FF1=1 FF=.045 but it still doesn't have a flat line at cruising speed. I will be at work for a few days and will post what that tune looks like. Is there any reason why during a jog movement the motor would have a lurching motion at final speed?

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10 Dec 2020 16:39 #191586 by PCW
Replied by PCW on topic Bridgeport Torq Cut 22 Retrofit
Can you post your hal and ini files?

If FF1 (which is the most important tuning
parameter of a velocity mode servo)
makes little change then something is
wrong on the hal/in files

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13 Dec 2020 18:44 - 13 Dec 2020 18:45 #191885 by Michael
Here are the current ini and hal files. Just to be clear, by adjusting FF1 the desired result is to move the ferror closer to baseline when jogging? Basically I want to adjust FF1 so that besides the over/undershoot at the beginning and end of a job the line remains relatively flat to what it read at zero speed?
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Last edit: 13 Dec 2020 18:45 by Michael.

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13 Dec 2020 19:16 - 13 Dec 2020 19:24 #191890 by Michael
Here are some scopes after tuning the servo drive. DMM was very helpful and agreed that the autotune for my setup was way off. I was able to get ride of the visible noticeable oscillation when jogging. Here are the effects FF1 had at 9 IPM. As I increase jog rate the graphs move more from baseline.

P25 FF1=.9


P25 FF1=1


P25 FF1=1.1


P25 FF1=1.96
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Last edit: 13 Dec 2020 19:24 by Michael.

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13 Dec 2020 19:21 #191891 by PCW
Replied by PCW on topic Bridgeport Torq Cut 22 Retrofit
FF1 should be adjusted so the the ferror is close to 0 when moving at a constant speed.
too much FF1 will cause the actual motion to lead the command, too little will cause the
actual motion to lag the command.

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13 Dec 2020 19:36 #191895 by Michael

FF1 should be adjusted so the the ferror is close to 0 when moving at a constant speed.
too much FF1 will cause the actual motion to lead the command, too little will cause the
actual motion to lag the command.


So of my posted pictures which one seems to be closest to where I should be? I honestly don't see much change until something dramatic is entered as in my last picture. But at that setting and higher jog rates it is way off.

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13 Dec 2020 19:43 - 13 Dec 2020 19:44 #191897 by PCW
Replied by PCW on topic Bridgeport Torq Cut 22 Retrofit
1.96 is the best

I would set FF1 at say 1/2 of full speed
It should scale(should be independent of velocity)

The error from an incorrect FF1 setting will be
proportional to velocity so its best to tune FF1 at
a fairly high speed
Last edit: 13 Dec 2020 19:44 by PCW.

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14 Dec 2020 19:54 #191974 by Michael
Here is 292 IPM which is half rapid speed. P=65 FF1=1.0215 and everything else 0. The following error will scale with velocity in this setup but the over and undershoot look horrible.
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14 Dec 2020 20:07 #191975 by PCW
Replied by PCW on topic Bridgeport Torq Cut 22 Retrofit
You should be able to tune some of that error out with a bit of FF2
But it may also reflect non-optimal tuning in the drive itself

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