Rotary A axis mesa 5i25 7i77

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02 Apr 2021 11:22 #204480 by Artur_1617
Hi,
I have problem with setup my rotary A axis.
The rotary axis is servo 50w 3000rpm setup in speed control and setup 1 volt of input from mesa give 300rpm(max speed of motor 3000rpm)
The servo motor is conected to harmonic drive with reduction ratio 50-1
Servo encoder is 2500 count
When setup in my ini file encoder scale to 2500 my A axis turn 360 deegres but on the screen apeard only 200
For me i must put encoder scale to 125000 2500x50 but after one full tourn of axis on screen se only 4degree
Wathing encoder count in hall meter and turn 360degrees counter go from 0 to 500000 ( like encoder 5000x100 ?)
The drive didint have setup for output encoder signal.

File Attachment:

File Name: Frezarka_2...4-02.ini
File Size:5 KB

File Attachment:

File Name: Frezarka_2...4-02.hal
File Size:14 KB
Attachments:

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02 Apr 2021 11:43 - 02 Apr 2021 11:43 #204482 by PCW
Replied by PCW on topic Rotary A axis mesa 5i25 7i77
If you have a 2500 line encoder, that would be 10000 counts per turn,
so 10000x50= 500,000 counts-per-turn on A axis.

500,000 counts-per-turn/360 = 1388.888888889 counts per degree.
so encoder scale should be1388.888888889
Last edit: 02 Apr 2021 11:43 by PCW.

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02 Apr 2021 12:16 #204490 by Artur_1617
for one turn 360degrees the closes results was with about 1900scale
something is wrong....

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02 Apr 2021 23:30 #204575 by andypugh
The maths should be very simple. Are you 100% sure about the encoder counts and the harmonic drive ratio?
Is there any gearing between the motor and the HD?

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21 Apr 2021 18:32 #206694 by Artur_1617
With encoder scale 1388.888888889 rotary axis working ok

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The following user(s) said Thank You: tommylight

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