Motor Resonance

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30 Dec 2019 23:00 #153572 by CNC32
Motor Resonance was created by CNC32
I have a mesa 7i96 and I am using clearpath servo motors which provide no singles back to the 7i96. But anyway when I am testing the motors I move the axis and then stop it and it starts to resonate. I have previously used Mach4 and I did not have this problem. When I looked at the clearpath diagnostics software I noticed that when I moved the axis and stoped the axis the direction signal was fluctuating and the step single was fluttering on and off. It is almost like Linuxcnc is trying to give the motors feedback when the clearpath servo motors already provide there own feedback. Some suggestions would be greatly appreciated.

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30 Dec 2019 23:03 #153574 by cmorley
Replied by cmorley on topic Motor Resonance
please post your config files. probably need to adjust your PID values a bit.

Chris

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30 Dec 2019 23:04 #153575 by tommylight
Replied by tommylight on topic Motor Resonance
In the hal file, check if you have something like " .........maxerror 0.5 " or similar, delete all the line containing that.
It might also be from interferences from unshielded cables.

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30 Dec 2019 23:19 #153577 by CNC32
Replied by CNC32 on topic Motor Resonance
I have attached my config files. I searched the base_config.hall for maxerror and there are 6 instances that all say
step pid.x.maxerror .0005

File Attachment:

File Name: Base_config.zip
File Size:7 KB
Attachments:

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30 Dec 2019 23:27 #153579 by tommylight
Replied by tommylight on topic Motor Resonance

CNC32 wrote: I have attached my config files. I searched the base_config.hall for maxerror and there are 6 instances that all say

step pid.x.maxerror .0005

Delete those lines and the lines above them. something with "previous error......."
Or just put # in front of those lines, save and restart Linuxcnc.

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30 Dec 2019 23:54 #153581 by CNC32
Replied by CNC32 on topic Motor Resonance
Thakyou tommylight for the help!

I have just edited that hal file and commented them out with a # in front of the lines for example
#setp   pid.X.error-previous-target true
#setp   pid.X.maxerror .0005
When I go to run linuxCNC I get an error message saying
./Base_config.hal:1: Unknown command ' '
2373

I have reverted back to the original hal file.

I have included the modified hal file here

File Attachment:

File Name: Base_config.hal
File Size:10 KB
Attachments:

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31 Dec 2019 05:00 #153585 by tommylight
Replied by tommylight on topic Motor Resonance
That error says you have something wrong on line 1 of the hal file, everything else looks ok.

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31 Dec 2019 16:25 #153612 by PCW
Replied by PCW on topic Motor Resonance
You need these lines:

setp pid.N.error-previous-target true

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31 Dec 2019 16:51 #153614 by tommylight
Replied by tommylight on topic Motor Resonance

PCW wrote: You need these lines:

setp pid.N.error-previous-target true

Sorry, i thought that should also go, was not sure though.
Thank you.

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31 Dec 2019 17:18 #153617 by PCW
Replied by PCW on topic Motor Resonance
The reason the step/dir output is dithering is because you have a P term of 10000
This should normally be 1/servo thread period = 1000

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