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802Dsl + ADI4 + Servo response

Created by: hookipa at: 3/29/2012 11:36 AM (9 Replies)

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3/29/2012 11:36 AM	Rate (0)
hookipa Posts: 67 Rating: (0)	Hello, I'm comissioning my servo driven by guettys drivers. When I jog my axe, it is too slow and when I stop jogging, themotor still rotate and Ihave a standstill error. I try to change parameters : MD32200 - POSCTRL_GAIN MD32300 - MAX_AX_ACCEL but I can't make it work. I have a reductor on my axe 2.36 motor turn for 1 leadscrew turn => MD31050 = 100 MD31060 = 236 My leadscrew pitch is 10mm => MD31030 = 10 With a very slow jog (2%) I succed to travel and the measure shown on 802D is the same as my comparator. Is anybody have an idea ? Thanks, Patrice
hookipa Posts: 67 Rating: (0)	Last edited by: hookipa at: 3/29/2012 11:36 AM
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3/30/2012 9:12 AM	Rate (0)
DigitalMG Advanced Member Joined: 4/18/2010 Last visit: 1/2/2025 Posts: 65 Rating: (0)	hookipa Hello, I'm comissioning my servo driven by guettys drivers. When I jog my axe, it is too slow and when I stop jogging, themotor still rotate and Ihave a standstill error. I try to change parameters : MD32200 - POSCTRL_GAIN MD32300 - MAX_AX_ACCEL but I can't make it work. I have a reductor on my axe 2.36 motor turn for 1 leadscrew turn => MD31050 = 100 MD31060 = 236 My leadscrew pitch is 10mm => MD31030 = 10 With a very slow jog (2%) I succed to travel and the measure shown on 802D is the same as my comparator. Is anybody have an idea ? Thanks, Patrice Hi, First of all, you must get sure about MD32250[0] $MA_ RATED_VALUE and MD32260[0] $MA_ RATED_VELO values. I have no information from your drive but you must tune them for example to rotate 2000 RPM @ 8V analog command. Then enter those values exactly on the mentioned parameters. Second, check your analog command wiring for proper shielding in order to eliminate drift as much as possible. Then put MD32200 $MA_POSCTRL_GAIN = 0 for desired axis and tune the drive drift parameter to minimize drift. At this situation closed-loop controller is open and encoder works as an indicator only which shows motor shaft rotation caused by drift. You should try to minimize motor shaft rotation from the drive. If drift is too much, you receive error on CNC, then press reset and continue tuning. Also check for encoder wirings to ADI4, on closed-loop operation no drift should be observed at presence of encoder if the reset of system are working properly. Third, if you use drive encoder emulation as NC axis feedback for ADI4, make sure that 2500 PPR is set both on Drives and ADI4 for X, Y and Z (on ADI4 and 802Dsl combination you can choose only preset values for encoders) Forth, put MD32200 $MA_POSCTRL_GAIN=1 and check MD31030 LEADSCREW_PITCH (lead screw pitch) =10 again.MD31060 DRIVE_AX_RATIO_NUMERA[n] (load gearbox numerator) and MD31050DRIVE_AX_RATIO_DENOM[n] (load gearbox denominator) for desired axis should be checked again. MD31040 ENC_IS_DIRECT [0] (encoder is connected directly at the machine) is overlooked most the of times. You must set it as 0 for any axis which has speed reducer.MD31080 and MD31070 must be set to 1. Fifth, with the help of service display, try for increasing MD32200 $MA_POSCTRL_GAIN as much as possible without reaching to instability behavior of machine. Sixth, check for Jerk limit and acceleration parameters and maximum allowed speed of each axis. I hope there will be no problem after all. Thanks

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3/30/2012 3:14 PM	Rate (0)
hookipa Posts: 67 Rating: (0)	Hello, Thanks for your complete answer. I restart my axis from scratch. First : I have a motor wich rotate 1200 RPM @ 10V => MD32250=100 & MD32260=1200 I tried also with reduction 2.36 => MD32260=2832 for testing. Second : My drivers where correctly setup, I have no drift in open loop and closed cloop. Third : I use real encoder on ADI4 (hedenhein linear scale). The measure returned seems to be correct. Forth : MD32200 = 0 MD31030 = 10 (10 mm pitch) MD31050 = 100 (output of the reductor) MD31060 = 236 (motor side of the reductor : 2.36:1) MD31040 = 0 even my linear scale is mounted directly at the machine !! MD31070=1 MD31080=1 Fifth + sixth: I can't do this because I still have my contour tolerance error Thanks for your help, Patrice
hookipa Posts: 67 Rating: (0)
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3/30/2012 3:58 PM	Rate (0)
DigitalMG Advanced Member Joined: 4/18/2010 Last visit: 1/2/2025 Posts: 65 Rating: (0)	OK, I didn't know that you use linear scale, then you have to set encoder is direct to 1. Then checkENC_IS_LINEAR[0] (31000) = 1 ,ENC_GRID_POINT_DIST[0] (31010) = depends on your scale. As you used ballscrew with 10mm pitch, then the ratio of (MD31010/ EXE Board Pulse multiplier) must be 0.004 ( 4um) . then it is coresspond to 2500 PPR which ADI4 supports. For instance a grid division of 20 μm and x5 EXE multiplier will result 4um resolution. then 10/0.004 = 2500 set MD 11240[0]= 1 for X, Y, Z you will have the same 2500 PPR resolution. depend on your grid point, you should choose proper multiplier to results in 0.004 if setting was correct but it didn't work, then try to bypass encoder read-out: SetMD30240 ENC_TYPE[n] &MD30200 NUM_ENCS = 0 for a selected axis. Then check the axis velocity by your filling from the past. if much improvment is observed, you have to chech EXE board of linear scales for correct TTL pulse number. Another failuer, while encoder is eliminated, from MDA execute : G01X300.0F1000 keep the Feed but use a distance that takes 5 sec atleast to be tarveresd. check that feed override is 100% then using a voltmeter, check the analog voltage sends from ADI4 to drive for X axis. it must be around 2 volts. e.g : (((1000mm/min)/(10mm/rev)) x 10V )/ (1200 rev/min) = 0.833 volts 0.833 x 2.36 (G.R) : 1.96 Volts If this voltage couldn't be read, there is a problem with load/motor ratio parameter or rated speed. voltage parameters. if the voltage was ok but it didn't work again, try to dismount motor from reducer, send 10V analog to drive command interface and check if the motor rotates 1200 RPM. Thanks & Best Regards

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3/30/2012 5:18 PM	Rate (0)
hookipa Posts: 67 Rating: (0)	The first part (encoder values, ... ) doesn't work but with desactivating encoder, I fobtain very strange results : 0.4mm Z+ traveling => 27mm on DRO 0.4mm Z- traveling => 72mm on DRO Without encoder I have to read near 0.4mm isn't it ? Thanks for your help, It seems that you are near solving my probleme
hookipa Posts: 67 Rating: (0)
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3/30/2012 5:49 PM	Rate (0)
DigitalMG Advanced Member Joined: 4/18/2010 Last visit: 1/2/2025 Posts: 65 Rating: (0)	Would you please let me know your scales model and specification and your set values for my reference ? Did you connect linear scales to a DRO for reading Z axis traverse? could you check DRO values with a mechanical dial indicator to get sure about the validity of DRO results ? Did you check analog voltages? please let me know about it. it's the key to solve the problem. W/O encoder, axis should travel near 0.4mm Either ADI4 sends wrong voltage or your drive setting is incorrect. Please dismount motor of Z axis and check RPM against 10V. Also different traveling by the same defined 0.4mm maybe the result of incorrect drift compensation. Please eliminate drift parameters both on controller and drives and try to cancel the noise by using shield wire of analog command cable. Please send me a back-up text from all MD parameters on controller. Thanks

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3/30/2012 5:56 PM	Rate (0)
hookipa Posts: 67 Rating: (0)	Connecting between ADI4 and Driver is a new shielded wire (0.5m) with shield connected to earth at both end. I will make all of these test on monday because now I must go out my work.I join the complete_tea.ini with all the changes I made with your help. Best Regards, Patrice Attachment complete_tea.zip (157 Downloads)
hookipa Posts: 67 Rating: (0)
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4/6/2012 11:30 AM	Rate (0)
DigitalMG Advanced Member Joined: 4/18/2010 Last visit: 1/2/2025 Posts: 65 Rating: (0)	There was a mistake in your MD parameters: N31050 $MA_DRIVE_AX_RATIO_DENOM[0,AX3]=236 '5fb0 N31060 $MA_DRIVE_AX_RATIO_NUMERA[0,AX3]=100 '5816 You should substitue MD31060 value with 31050 as you applied speed reducer, motor rotates 236 RPM while load rotates at 100 RPM 31050 relates to load speed, while 31060 is for motor speed. Also you have mentioned correct values in your comments, but back-up file shows different values. Thanks

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4/6/2012 1:50 PM	Rate (0)
hookipa Posts: 67 Rating: (0)	DigitalMG There was a mistake in your MD parameters: N31050 $MA_DRIVE_AX_RATIO_DENOM[0,AX3]=236 '5fb0 N31060 $MA_DRIVE_AX_RATIO_NUMERA[0,AX3]=100 '5816 You should substitue MD31060 value with 31050 as you applied speed reducer, motor rotates 236 RPM while load rotates at 100 RPM 31050 relates to load speed, while 31060 is for motor speed. Also you have mentioned correct values in your comments, but back-up file shows different values. Thanks I tried to reverse 31050 and 31060 but it doesn't works. I also try to let 1 in 31050 and 31060 and just modify the leadscrew pitch but it doesn't work.I will try to connect a 9v battery on driver input to control the hardware. I had a lot of work this week and I can't test it. Thanks for your answers, I have somethings from Siemes to try, if I succeded, I will post the issue. Patrice
hookipa Posts: 67 Rating: (0)
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9/27/2017 3:28 PM	Rate (0)
djnstml Posts: 1 Rating: (0)	Hi, I have 802Dsl controller which I am commissioning the HND drive and motor and I am getting STANDSTILL MONITORING ERROR when the motor has stopped. Is this because of ADI4 module or what? I have not connected the motor to any load. Please help me in getting out of this alarm
djnstml Posts: 1 Rating: (0)
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