ASD-A2 EtherCAT on LinuxCNC

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25 Jun 2020 12:50 #172722 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
I do not know. But that's how it works out for me.

Thanks jirka
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29 Jun 2020 22:03 #173145 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hello.
Wouldn't it be better for me to switch from speed control to position control?

(I'm afraid someone will say yes, and I won't know how to do it. :blush: )

Thanks jirka

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04 Jul 2020 13:26 - 04 Jul 2020 13:27 #173603 by chimeno
Replied by chimeno on topic ASD-A2 EtherCAT on LinuxCNC
Hello @jirkam,
sorry for taking the time to answer, the speed control problem that you first have to adjust in the drive configuration so that it works at the speed and acceleration you need in the machine and then finish adjusting in linuxcnc, if you want you can try this configuration if you notice any improvement,

P =150
I =0
D = 0.1
BIAS = 0
FF0 = 0
FF1 = 0.98
FF2 = 0
DEADBAND 0.00001


pass the position control I think it does a lot of people and not difficult, you will have to use the generic controller and change the PDO for the position ones and configure the position mode, you will also have to configure the speed and acceleration in the drive.

greeting
Chimeno
Last edit: 04 Jul 2020 13:27 by chimeno.

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04 Jul 2020 20:39 #173625 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
@tommylight
I found that "I" depends on the output resolution of the ASD-A2.
Here is a table of test settings.



The result is almost the same. Only when the resolution of the ASD-A2 is higher is it very difficult to set and the system is then unstable after 5 minutes of milling.
For pictures, watch only the "joint.0.f-error" - light color curve.













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04 Jul 2020 20:42 #173626 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
@chimeno
Does not matter. I've been testing all week. See above.
I'm done setting 10.png. But I will make a few more changes according to you.

the speed control problem that you first have to adjust in the drive configuration so that it works at the speed and acceleration you need in the machine and then finish adjusting in linuxcnc

Do you mean "MAX_ACCELERATION", "MAX_OUTPUT" and "MAX_VELOCITY"?
"MAX_ACCELERATION" is parameter P1-34 and P1-35 for ASD-A2. But I don't know how to convert "MAX_ACCELERATION = 1500" to "ms" for ASD-A2?
And which ASD-A2 parameter corresponds to "MAX_OUTPUT = 30000" and "MAX_VELOCITY = 200"? P1-40 or P1-55?
I apologize for the large number of questions.
Thank you very much and have a nice day.
Jirka
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04 Jul 2020 20:51 #173628 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
The big bugs in this picture are thanks to .COMP where I had "950 0.020 -0.030" set. After adjusting to "950 0.020 0.020" it is no longer a problem.


Jirka
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05 Jul 2020 15:53 #173673 by chimeno
Replied by chimeno on topic ASD-A2 EtherCAT on LinuxCNC
Hi @jirkam,
I'm glad it worked well for you!

The big bugs in this picture are thanks to .COMP where I had "950 0.020 -0.030" set. After adjusting to "950 0.020 0.020" it is no longer a problem.

what do you mean .COMP ??

And which ASD-A2 parameter corresponds to "MAX_OUTPUT = 30000" and "MAX_VELOCITY = 200"? P1-40 or P1-55?

this parameter is marked by the scale in driver and motor, you have, the fixed scale is 0.1 rpm and a motor at 3,000 rpm, so I think 3000x0.1 = 300, it seems to me that the scale has to be "300"
MAX_OUTPUT = 300
MAX_VELOCITY = 300

MAX_ACCELERATION" is parameter P1-34 and P1-35 for ASD-A2. But I don't know how to convert "MAX_ACCELERATION = 1500" to "ms" for ASD-A2?

The acceleration values ​​depend a lot on the type of structure to move, the value to put P1-34 / 35 is the time you want it to take to go from 0 to 3000rpm,
In linuxcnc it is in units per machine over your maximum speed of 300.


I usually use the drive display to indicate the actual motor speed, I think you can configure it with parameter P0-02 value 7

greeting
Chimeno

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05 Jul 2020 16:53 #173676 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hi @chimeno
.COMP I mean in .ini / [AXIS] / COMP_FILE.

I will try to set MAX_OUTPUT = 300 and MAX_VELOCITY = 300.
Last time you wrote:
"setp lcec.0.x.srv-velo-cmd 30000" and "MAX_OUTPUT = 30000"
I'll try and see what happens.

Due to the poor design of the machine, I would like to use the maximum acceleration "MAX_ACCELERATION = 500" and "MAX_VELOCITY = 300".
What value corresponds to this setting for P1-34 and P1-35?
500ms? Probably not? Or yes?

I will also set parameter P0-02 to 7.

Thank you very much. Jirka

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05 Jul 2020 17:11 - 05 Jul 2020 17:12 #173677 by chimeno
Replied by chimeno on topic ASD-A2 EtherCAT on LinuxCNC
Hi @Jirkam,

.COMP I mean in .ini / [AXIS] / COMP_FILE.

Ok, thanks

I will try to set MAX_OUTPUT = 300 and MAX_VELOCITY = 300.
Last time you wrote:
"setp lcec.0.x.srv-velo-cmd 30000" and "MAX_OUTPUT = 30000"
I'll try and see what happens.


Sorry I think it looks bad, one way to check it is to use the settings on the drive screen to see the engine speed and with this signal you should see 1500rpm
setp lcec.0.x.srv-velo-cmd 150
"then the scale is correct

Due to the poor design of the machine, I would like to use the maximum acceleration "MAX_ACCELERATION = 500" and "MAX_VELOCITY = 300".
What value corresponds to this setting for P1-34 and P1-35?
500ms? Probably not? Or yes?


It can be, it depends a lot on the machine,


You can also adjust the parameters automatically through the WINDOWS program that includes the "3.2 Auto Gain Tuning", which allows you to do many tests to see what is the maximum you can go.

Greeting
Chimeno
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07 Jul 2020 12:35 - 07 Jul 2020 13:16 #173830 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hi @Chimeno

If I understood this well, I found out by testing that the servo speed is 800 rpm on the display (set parameter P0-02 = 7) at a speed of 12,000 mm / min in Lcnc.
The servo speed on the display is 1,200 rpm at 18,000 mm / min in Lcnc.

It's different than I thought.
I'm starting to get lost in it.

I was just trying:
I removed "setp lcec.0.x.srv-velo-cmd 10000" and tested how low I could get with "MAX_OUTPUT".
At speeds of 12,000 mm / min I could drop to "MAX_OUTPUT = 14".
And at speeds of 18,000 mm / min I dropped to "MAX_OUTPUT = 21"
In both cases, the system behaved the same as with "MAX_OUTPUT = 30000"

Is it possible to observe anything from this?

Thank you Jirka
Last edit: 07 Jul 2020 13:16 by jirkam.

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