On 12/08/2016 03:56 PM, Frederic RIBLE wrote: > Hello > > At Electrolab hackerspace, we are working on the retrofit of a > Mori-Seiki SL0 CNC lathe. > We are are using a Mesa 6i24/7i48 combination. > The drive is a A06B-6047-H208 (double velocity control unit). > Axis motors are A06B-0641-B011 and A06B-0642-B011 (yellow cap). > The position feedback comes from a 2000ppr encoder. > We use the Mesa board to convert the pulses to an analog feedback > velocity signal. > We have done the HAL cabling as below. > First results are promising : we can control the position. > But we see some oscillations on the velocity (periodic with 33 ms period). > Oscillations start when the position command changes, and never stop, > even when the pos-cmd becomes constant. > Same issue if we disable the PID loop in HAL. > So we believe the problem is coming from the drive. > When we decrease the analog gain in the drive after the error amplifier > (comparison between velocity command and feedback), we can decrease the > oscillation. > As we can see a phase compensation circuit in the drive, we assume this > is to compensate for delay on velocity feedback. > So, we have tried to add some delay on the velocity feedback assuming > original F/V converter from the Fanuc control board may be slower than > what we have with Mesa. Not much success: that changes a little the > oscillation period, but we cannot cancel oscillation. > > Anyone knows how we can tune the drive (unfortunately we have not the > documentation for this part number) ? > > Thanks > Frederic. > > > https://forum.linuxcnc.org/media/kunena/attachments/16648/Mauriceservo.jpg > > ------------------------------------------------------------------------------ > Developer Access Program for Intel Xeon Phi Processors > Access to Intel Xeon Phi processor-based developer platforms. > With one year of Intel Parallel Studio XE. > Training and support from Colfax. > Order your platform today.http://sdm.link/xeonphi > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users >
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