big latency with KINCO FD-432-EA
- Dimitri
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18 Nov 2021 10:44 - 18 Nov 2021 11:09 #226851
by Dimitri
big latency with KINCO FD-432-EA was created by Dimitri
Hi,
First a great thanks at linuxcnc.org and particular to Grotius for RTOS release
So, in my case I try to set up one axis
I tried in position mode and now in speed mode, it's working! movement and scale are ok
but the f-error is very too big, with at least 25 milisecond of "latency" between pos-cmd and actual-position (see capture screen).
And I don't understand why? I tried to improve gain and other parameters
(all servo's parameters are make with KincoServo+)
I guess this error is a clock fault ??
or other way ?
Actually this parameters are not clear for me in .xml file
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
and
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
I will be happy for any advice
hardware:
from en.kinco.cn/productdetail/cd3fd3zjzzzz05.html
AC SERVO MOTOR
KINCO SMC80S-0075-30MAK-3LSU
AC SERVO
KINCO FD-432-EA
Linux debian-CNC 4.19.0-11-rt-amd64 #1 SMP PREEMPT RT Debian 4.19.146-1 (2020-09-17) x86_64 GNU/Linux
First a great thanks at linuxcnc.org and particular to Grotius for RTOS release
So, in my case I try to set up one axis
I tried in position mode and now in speed mode, it's working! movement and scale are ok
but the f-error is very too big, with at least 25 milisecond of "latency" between pos-cmd and actual-position (see capture screen).
And I don't understand why? I tried to improve gain and other parameters
(all servo's parameters are make with KincoServo+)
I guess this error is a clock fault ??
or other way ?
Actually this parameters are not clear for me in .xml file
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
and
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
I will be happy for any advice
hardware:
from en.kinco.cn/productdetail/cd3fd3zjzzzz05.html
AC SERVO MOTOR
KINCO SMC80S-0075-30MAK-3LSU
AC SERVO
KINCO FD-432-EA
Linux debian-CNC 4.19.0-11-rt-amd64 #1 SMP PREEMPT RT Debian 4.19.146-1 (2020-09-17) x86_64 GNU/Linux
Last edit: 18 Nov 2021 11:09 by Dimitri.
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- db1981
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18 Nov 2021 17:47 #226897
by db1981
Replied by db1981 on topic big latency with KINCO FD-432-EA
Hello,
DC Sync and ref clock synccycles : forum.linuxcnc.org/ethercat/44113-etherc...l-file-configuration
there are a few points in your hal file that may cause this behaviour:
-place the line "addf x.pid.do-pid-calcs servo-thread" after the "addf motion-controller", with your current order pid will calc with the values from the wrong cycle. search in this forum for "execution order" i have explained this a few times.
-net x.s.pos-cmd => x.pid.command => axis.x.pos-cmd
your are using the wrong pos-cmd, "axis.x.pos-cmd" has to be joint.x.motor-pos-cmd . I believe this is the main reason for your delay.
DC Sync and ref clock synccycles : forum.linuxcnc.org/ethercat/44113-etherc...l-file-configuration
there are a few points in your hal file that may cause this behaviour:
-place the line "addf x.pid.do-pid-calcs servo-thread" after the "addf motion-controller", with your current order pid will calc with the values from the wrong cycle. search in this forum for "execution order" i have explained this a few times.
-net x.s.pos-cmd => x.pid.command => axis.x.pos-cmd
your are using the wrong pos-cmd, "axis.x.pos-cmd" has to be joint.x.motor-pos-cmd . I believe this is the main reason for your delay.
The following user(s) said Thank You: uur.ersan
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- Dimitri
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19 Nov 2021 13:34 #226980
by Dimitri
Replied by Dimitri on topic big latency with KINCO FD-432-EA
Thank for your help,
I noticed your message on "execution order" and made some adjustments since then. ( this one )
I changed too axis.x.pos-cmd to joint.0.motor-pos-cmd
and increase gain for a best response
but always ~20ms of delay..
You can see on new screen capture (oscillo_3.png) where I have added joint.0.motor-pos-fb (green)
Why I have a delay between joint.0 and lcec.0 ?? and so why lcec.0.0.pos_error seems coming at the right moment ?? ( this will prove that is not a clock / sync problem, no ?)
I noticed your message on "execution order" and made some adjustments since then. ( this one )
I changed too axis.x.pos-cmd to joint.0.motor-pos-cmd
and increase gain for a best response
but always ~20ms of delay..
You can see on new screen capture (oscillo_3.png) where I have added joint.0.motor-pos-fb (green)
Why I have a delay between joint.0 and lcec.0 ?? and so why lcec.0.0.pos_error seems coming at the right moment ?? ( this will prove that is not a clock / sync problem, no ?)
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- Dimitri
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19 Nov 2021 16:46 - 13 Jan 2022 15:46 #226999
by Dimitri
Replied by Dimitri on topic big latency with KINCO FD-432-EA
quickly:
My reference was not the right one: lcec.0.0.pos_error is about speed and not position. The good reference is joint.0.f-error
My reference was not the right one: lcec.0.0.pos_error is about speed and not position. The good reference is joint.0.f-error
Last edit: 13 Jan 2022 15:46 by Dimitri.
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