ASD-A2 EtherCAT on LinuxCNC

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22 Jun 2020 08:35 #172304 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Obviously I'm doing something wrong or I didn't understand the tuning process.
FERROR = 100
MIN_FERROR = 100
P = 5
DEADBAND = 0.0001
MAX_OUTPUT = 230
The rest = 0
I set FF1 to 0.1; 0.2; 0.3; 0.5; 0.8; 1.0; 10; 20; 30; 50; 100; 150 and no change to the "joint.0.f-error" curve.
Each time I click on the cursor left or right (do not hold), the "joint.0.f-error" changes by about 2mm and returns to zero for 30 seconds.
Ends with "joint.0.f-error" = 0.42mm.

Can you please advise me what he's doing wrong?
Thank you very much.

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23 Jun 2020 19:52 #172497 by chimeno
Replied by chimeno on topic ASD-A2 EtherCAT on LinuxCNC
Hi @Jirkam
I work in speed mode with ethercat servo drive,
It depends on how you have configured the speed mode in the drive., in the DELTA manual I see that for a 3000 rpm motor you need to enter a command of 30,000, then you would have to try
setp lcec.0.x.srv-velo-cmd 30000
maximum engine speed for checking
setp lcec.0.x.srv-velo-cmd 15000
average engine speed for checking

Now let's configure the PID
P = 1
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
DEBAND = 0
MAX_OUTPUT 30000

Now it has to work


Now adjust P until it starts to vibrate and lower it a little, my house is around 200

then surely you lack acceleration
configure the parameters
P1-34
P1-35

I hope I helped you

Cheers
Chimeno

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23 Jun 2020 20:07 #172500 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Thank you very much for the instructions. I'll try it tomorrow.
P1-34 and P1-35 I have 1000ms.

I just wondered if I didn't have an unnecessarily high resolution.
P1-44 = 1280 and P1-45 = 15.

Must P2-60, P2-61 and P2-62 be the same as P1-44?
I have all three parameters of 1280 pulses.

Thank you very much jirka

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24 Jun 2020 08:30 - 24 Jun 2020 08:34 #172540 by chimeno
Replied by chimeno on topic ASD-A2 EtherCAT on LinuxCNC
Hi @jirkam

Thank you very much for the instructions. I'll try it tomorrow.
P1-34 and P1-35 I have 1000ms.


It depends on the values ​​that you have placed in the .ini file and also on those that you need the machine to move quickly.
these are the parameters that you will have to change
MAX_VELOCITY = 250
MAX_ACCELERATION = 1500


I just wondered if I didn't have an unnecessarily high resolution.
P1-44 = 1280 and P1-45 = 15.

these values ​​are for the reducer, I think it may be better to do the tests leave it at 1 and configure the ratio in linuxcnc
setp lcec.0.x.srv-scale [JOINT_0]SCALE
SCALE = 0.2
this is for me, one engine turn is 5 millimeters

Greeting
Chimeno
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Last edit: 24 Jun 2020 08:34 by chimeno. Reason: Edit

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24 Jun 2020 13:24 #172580 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hello @ chimeno

"lcec.0.x.srv-velo-cmd" refuses me.
Did you mean "lcec.0.x.srv-vel-cmd"? That was ok.

I setup:
P = 1 (gradually increased up to 25,000)
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
DEBAND = 0
MAX_OUTPUT 30000
and still a huge f-error.

I changed the encoder settings (P1-44 = 1 and P1-45 = 1)
SCALE = 15
and it was better.
I ended up here:
P = 130
I = 0
D = 0
FF0 = 0
FF1 = 1.12
FF2 = 0.006
DEBAND = 0
MAX_OUTPUT 30000
The result in the pictures. It's a spiral again.
I don't think it's ok.
How to improve it?
Thanks jirka
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24 Jun 2020 16:07 - 24 Jun 2020 16:09 #172597 by chimeno
Replied by chimeno on topic ASD-A2 EtherCAT on LinuxCNC
Hi @jirkam,
"lcec.0.x.srv-velo-cmd" me rechaza.
¿Quiso decir "lcec.0.x.srv-vel-cmd"? Eso estuvo bien.
I use the servo drive beckhoff, the signal has another name.

have you given him more acceleration?
P1-34
P1-35


can you measure the engine revolutions with this command?
setp lcec.0.x.srv-vel-cmd 15000
= 1.500 rpm

Greetting
Chimeno
Last edit: 24 Jun 2020 16:09 by chimeno.

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24 Jun 2020 19:25 #172618 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hi @chimeno
I only set the acceleration to 1500 in Lcnc.
Visible change in acceleration.
But I will try to set the acceleration of both P1-34 and P1-35.
I thought it would be enough to set up Lcnc.

"setp lcec.0.x.srv-vel-cmd 15000"
Do you mean measurement in HALscope?

Thanks jirka

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25 Jun 2020 11:44 #172704 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hi @chimeno
Here are the pictures with "lcec.0.x.srv-velo-cmd".
It's a spiral again.

P = 120
I = 0
D = 0
FF0 = 0
FF1 = 1.12
FF2 = 0.006
DEBAND = 0
MAX_OUTPUT 30000
SCALE = 15
P1-34 = 200
P1-35 = 200

Thanks jirka
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25 Jun 2020 12:22 #172717 by tommylight
As far as i know, FF1 can not be over 1.
I might be wrong though as i never checked, but i also never needed to go over it to tune a servo system.

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25 Jun 2020 12:38 #172719 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hi @chimeno
Replenishment.
I forgot to change one parameter in the .ini.
MAX_ACCELERATION = 1500.0
This is how the curve changed.

Thanks jirka
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