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mycnc:closed_loop_configuration

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mycnc:closed_loop_configuration [2018/10/09 14:03]
skirillov
mycnc:closed_loop_configuration [2018/10/09 14:07] (current)
skirillov
Line 42: Line 42:
   * Adjust DAC offset ratio to get "​0V"​ value on DAC output for each channel. Theoretical DAC value for 0V is the middle of 12bits range \\ 4096/​2=**2048**. \\ A real value may vary +/-5%. \\ {{mycnc:​closed-loop:​mycnc-closed-loop-003.png}}   * Adjust DAC offset ratio to get "​0V"​ value on DAC output for each channel. Theoretical DAC value for 0V is the middle of 12bits range \\ 4096/​2=**2048**. \\ A real value may vary +/-5%. \\ {{mycnc:​closed-loop:​mycnc-closed-loop-003.png}}
   * Fill Encoder channel for each PID (Motor#). \\ {{mycnc:​closed-loop:​mycnc-closed-loop-004.png}} ​   * Fill Encoder channel for each PID (Motor#). \\ {{mycnc:​closed-loop:​mycnc-closed-loop-004.png}} ​
-  * To test selected channel, check "​Enable"​ checkbox for the channel and enter initial value of "​50"​ for Proportional P-ratio of PID controller. Press "Enter" to save the changes. We test PID#5 (motor channel #5) on the screenshot below. \\ {{mycnc:​closed-loop:​mycnc-closed-loop-005.png}}  +  * To test selected channel, check "​Enable"​ checkbox for the channel and enter initial value of "​50"​ for Proportional P-ratio of PID controller. Press "Save" ​button ​to save the changes. We test PID#5 (motor channel #5) on the screenshot below. \\ {{mycnc:​closed-loop:​mycnc-closed-loop-005.png}}  
-  * Click on "​Servo-ON"​ button to reset & enable selected PID and turn ON "​Servo-ON"​ signal. Servo-On procedure ​+  * Click on "​Servo-ON"​ button to reset & enable selected PID and turn ON "​Servo-ON"​ signal. Servo-On procedure ​will ... 
     * Reset position error registers - **E(t)** and its Integral value.     * Reset position error registers - **E(t)** and its Integral value.
     * Turn ON Servo-ON output to enable a servo driver     * Turn ON Servo-ON output to enable a servo driver
-    * Turn ON PID all "​Enabled"​ controllers (Checkboxes "​Enable"​ are checked)+    * Turn ON all "​Enabled" ​PID controllers (Checkboxes "​Enable"​ are checked).
   * Select the channel for a scope widget to control and tune PID controller ratios. \\ {{mycnc:​closed-loop:​mycnc-closed-loop-006.png}} ​   * Select the channel for a scope widget to control and tune PID controller ratios. \\ {{mycnc:​closed-loop:​mycnc-closed-loop-006.png}} ​
   * Check which Axis the PID controller attached to (Y axis for the screenshot below). \\ {{mycnc:​closed-loop:​mycnc-closed-loop-007.png}}   * Check which Axis the PID controller attached to (Y axis for the screenshot below). \\ {{mycnc:​closed-loop:​mycnc-closed-loop-007.png}}
-  * Jog buttons can be used to move the axis and tune PID coefficients. \\ {{mycnc:​closed-loop:​mycnc-closed-loop-008.png}} +  * Jog buttons can be used to move the axis while testing ​and tuning the PID coefficients. \\ {{mycnc:​closed-loop:​mycnc-closed-loop-008.png}} 
-  * An analogue servo driver normally has a linear function of rotation speed depends on input voltage. A linear coefficient of this function depends on Servo driver and motor, gears, ball-screw. PID **K** value represent this coefficient. \\ {{mycnc:​closed-loop:​mycnc-closed-loop-009.png}} \\ The value can be tuned manually. If rotate a motor shaft with speed more than 20 turn/sec, the controller calculates real Speed/​Voltage coefficient and print it on the configuration widget. You can use this value as information to tune the PID **K** ratio. A button **<<​** to the right of **PID K** input line can be used to copy the measured **K** ratio to **PID K**. \\ {{mycnc:​closed-loop:​mycnc-closed-loop-010.png}}+  * An analogue servo driver normally has a linear function of rotation speed depends on input voltage. A linear coefficient of this function depends on Servo driver and motor, gears, ball-screw ​etc\\ PID **K** value represent this coefficient. \\ {{mycnc:​closed-loop:​mycnc-closed-loop-009.png}} \\ The value can be tuned manually. If rotate a motor shaft with speed more than 20 turns/sec, the controller calculates real Speed/​Voltage coefficient and print it on the configuration widget. You can use this value as information to tune the PID **K** ratio. A button **<<​** to the right of **PID K** input line can be used to copy the measured **K** ratio to **PID K**. \\ {{mycnc:​closed-loop:​mycnc-closed-loop-010.png}}
  
 ==== Servo ON handling ==== ==== Servo ON handling ====
mycnc/closed_loop_configuration.txt · Last modified: 2018/10/09 14:07 by skirillov