ASD-A2 EtherCAT on LinuxCNC

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08 Jul 2020 19:58 - 08 Jul 2020 19:59 #174022 by chimeno
Replied by chimeno on topic ASD-A2 EtherCAT on LinuxCNC
Hi @jirkam,
The MAX_OUTPUT value also changes depending on the scale you have
lcec.0.x.srv-scale
and when I did not know, use this process to discover the value
1 - put the screen in RPM display mode
2 - my scale is
lcec.0.x.srv-scale 0.2
3 - my motor is 6000rpm
3 - use this command
sept lcec.0.x.srv-velo-cmd
and disconnect the signal
lcec.0.x.enc-pos
and I was testing values ​​until I got the revolutions on the 6000rpm screen
these are the values
setp lcec.0.x.srv-velo-cmd 500
= 6000rpm
setp lcec.0.x.srv-velo-cmd 250
= 3000rpm

After I got the correct scale, I started adjusting the PID,
I hope that in the end everything goes well for you!

Greeting
Chimeno
Last edit: 08 Jul 2020 19:59 by chimeno.

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08 Jul 2020 20:36 #174028 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hi @Chimeno
Thank you very much for your advice.
I'll try it tomorrow.

Today's tests.
It is again a spiral with a speed of 300 mm / min and the same with a speed of 1200 mm / min. But it runs at a maximum speed of 800 mm / min.





Thanks Jirka
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10 Jul 2020 20:31 #174269 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hi @Chimeno
So I tried and I'm doing something wrong.
I wrote
#net x-pos-fb <= lcec.0.X.enc-pos-enc
setp lcec.0.x.srv-vel-cmd with various values from 0.1 to 30000
and the engine still rotates 4,970 rpm (+/- 20 rpm)
I guess I misunderstood your description.

I probably don't have lcec.0.x.srv-scale.
Here's the pins
Warning: Spoiler! [ Click to expand ]


Thanks a lot Jirka

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13 Jul 2020 08:44 #174485 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hello.
Or - Is it possible that "PID in ASD-A2" and "PID in Lcnc" are fighting?
Thanks a lot jirka

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13 Jul 2020 17:29 - 13 Jul 2020 19:23 #174519 by chimeno
Replied by chimeno on topic ASD-A2 EtherCAT on LinuxCNC
hi @Jirkam,

I probably don't have lcec.0.x.srv-scale.
Here's the pins

if you have it but it is parameter type.
lcec.0.X.pos-scale
setp lcec.0.X.pos-scale [JOINT_0]SCALE
This parameter must also be in the .ini file to modify it live
[JOINT_0]
SCALE = 1

Or - Is it possible that "PID in ASD-A2" and "PID in Lcnc" are fighting?

If of course, totally normal, in any mode that works, both Position, Speed, Torque, first you have to prove that it works perfectly, I would download the software ASDA-Soft V5.4.1.0 and I would carry out tests to adjust the parameters as much as possible. Once you know until you can get the maximum speed and acceleration, it is a matter of adjusting the PID of linuxcnc a little underneath giving a little margin and finish fine-tuning the small curve.
http://www.deltaww.com/services/DownloadCenter3.aspx?secID=8&pid=2&tid=0&CID=06&itemID=060201&typeID=1&downloadID=A2%20Series&title=06&dataType=2;8;3;4;&check=1&hl=en-US

#net x-pos-fb <= lcec.0.X.enc-pos-enc
setp lcec.0.x.srv-vel-cmd with various values from 0.1 to 30000
and the engine still rotates 4,970 rpm (+/- 20 rpm)
I guess I misunderstood your description.

It seems very strange to me, it shouldn't be like this, try setting all scales to 1 and just set the scale in this parameter
lcec.0.X.pos-scale

Greeting
Chimeno
Last edit: 13 Jul 2020 19:23 by chimeno.

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13 Jul 2020 20:38 #174535 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hi @Chimeno

I have. So that's probably okay.
lcec.0.X.pos-scale
setp lcec.0.X.pos-scale [JOINT_0] SCALE

[JOINT_0]
SCALE = 1

I also have ASDA-Soft V5.4.1.0. I tried Autotuning but I don't know if I did it right.
I arranged with a technician who sells Delta Servo to come and set up my drivers.

I'll ask something else.
1. Sometimes in the Lcnc terminal I get a warning "value" 304800,000000 "......." and then the feed is 10 times slower than usual. But the speed on the screen shows as if he was driving at normal speed. I.e. 12,000 mm / min.
I have to restart Lcnc several times and then everything is ok.
Do you have any idea where the mistake is?

2. Lots of lines with No. 5 in the terminal. I found that it is related to the number of Joints.
Don't know why it's there? Is this a bug for Lcnc?

Warning: Spoiler! [ Click to expand ]


Thank you very much Jirka

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14 Jul 2020 17:59 #174652 by chimeno
Replied by chimeno on topic ASD-A2 EtherCAT on LinuxCNC
Hi @jirkam,
Well I do not know the truth, it may have to do with the gmoccapy screen.

Greeting
Chimeno

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19 Aug 2020 11:51 #178701 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hello.
I had a Delta servo service technician.
He tried to set this up.

Autotuning:
The axis portal
J-L = 4, Setting bandwidth from 25Hz to 150Hz, vibrations still occured.
Measured resonance frequency via Scope was 12,3Hz = setting parameters P1-25 = 123 and P1-26 = 1 (higher value causes worse noise) but it did not help. Then I set P1-29 = 1 to automatically find and filter low frequency vibration but vibration were still here with small movement command.

X axis
J-L = 4, Setting bandwidth from 25Hz to 150Hz, best result was around 70-80Hz bandwidth.
Measured resonance frequency via Scope was 2,5Hz = setting parameters P1-25 = 25 and P1-26 = 1 (higher value causes worse noise) but it did not help totally.
Also I tried to set P1-08 = 2 and P1-68 = 50 to make it more smooth, no big change.

When the service technician left, I tried to disassemble the servos and test them on the table.

The result is still the same:



The green curve is vel-cmd.

Is it possible that I have something wrong set up in Linuxcnc?

Thank you jirka
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21 Aug 2020 16:47 #178938 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC

chimeno wrote: Hi @jirkam,
Well I do not know the truth, it may have to do with the gmoccapy screen.

Greeting
Chimeno


Hi.
I tried it in "axis" and more lines with number 5 is even when starting "axis".
Have a nice day Jirka

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21 Aug 2020 16:55 - 31 Aug 2020 16:00 #178940 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hi to all.
I enclose the configuration. If anyone wanted to look.
File "YYXZ servo X PROFCOM.hal" please rename to "YYXZ servo X PROFCOM.par".
You may notice some errors.

Can anyone help me please?
Say the price "for help".

Thank you very much for your comments.
Jirka
Last edit: 31 Aug 2020 16:00 by jirkam.

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