[scrambled]

Tero-

I have made changes to my flame table to try to get it to run better.

Before the changes, I was using 5 to 1 gearboxes and a 2.5 inch pinion for the rack.

Everything worked, but I was still getting following errors and the acceleration and deceleration was kinda jerky. I could use the table, but I had to keep an eye out for the following error.


So I decided to change the gearboxes out to 30 to 1 and still use the 2.5 pinion. The acceleration and deceleration have improved greatly, but it now fault for a following error with about 15-20 inches of movement.


I am planning on retuning the motors in the next day or so. Is there anything else I can try?

Is there a way to eliminate this fault completely?



Steve

[Xerxes]

Steve,

Can you do the faulting move under GDtool step response test? That would give lots of useful data to find the error source. You can achieve longer moves in that test by:

-Increasing "mutliplier" parameter in trajectory planner page
-Reduce "sample rate" in step test page
-Increase "buffer length" in step test page

[scrambled]

Tero-

The problem is this is on the x axis, and I have two servo motors.

I have not been able monitor both of the axis at the same time. I can only make GDTool connect to one drive at a time.


Any suggestions


Steve

[Xerxes]

Are they brushless or brushed motors? With brushless you will need to use hall-sensors of motors to operate in parallel.

[scrambled]

Tero-

They are brushed DC

Steve

[Xerxes]

Have you tried using DualDC firmware for the parallel axis (one drive controlling both motors)? I believe its easier to set-up for such operation.

[scrambled]

Tero

I have not tried the dual firmware. Right now I have a servo drive for each axis. I don't want to have to rewire everything unless it is absolutely necessary.

I am using the vsd-e 160 volt servo drives and the vsdepi board.

I will try to get a copy of the drive settings before I start making changes.

Is there anything else you need?


Steve

[scrambled]

Tero

I am also using 1125 oz in motors. Would two of these be too much for the dual drive function ?


Steve

[Xerxes]

I guess you have Keling KL34-180-90. I have that motor too and it actually was used during development of DualDC so it will work nicely.

Are your motors & encoders & mechanics & drive parameters identical for both motors?

[scrambled]

Tero

Everything is as identical as I can get. Same motors, gearbox, encoders (1250), and same rack


Steve

[scrambled]

Tero-

I made a mistake when I told you that it was a following error. I was going from memory instead of looking at the error code. Sorry about the wild goose chase.

The error is overcurrent, which according to the error code is probably caused by bad tuning.

Now here is the problem--- i cant get any of the drives to connect to my laptop.

here are some of the items I tried to get it to connect.

1. Made sure to remove the CMD connector
2. Double check that the USB was connected correctly
3. E stopped the machine to disable the HV
4. Last time I had communication problems you also had me install capitors on the + an - HV
5. Installed a ferrite core abound the USB cable- Three wraps
6. removed the motor power connector
7. tried 3 of the 4 drives with no luck


When I connect the USB cable to my laptop- Same laptop I used last year- windows would make a Bing sound when the plug was connected to the laptop


I am leaning towards the possibility that the USB cable is defective. What would be the best way to test it?

Is there a local supplier USA for these cables?


any other ideas?


Steve

[Xerxes]

You can test the cable with this utily:
http://www.granitedevices.fi/assets/files/cabletest.zip

Place the exe file to GDtool install folder and run it when cable is plugged. You'll also need short piece of wire.

FTDI TTL232-R 5V cables are available from Mouser & Digikey.

[scrambled]

Tero-

I installed the cable checker utility, and the cable passed.

I also installed the GDTool v2.51 on a second computer and tried to connect to the servo drives. I still get a communication error.

What should I try next?


Steve

[Xerxes]

Please copy & paste GDtool event log text for me after attempted connection.

[scrambled]

Tero-

Here is some additional information.

I worked in the shop today trying to figure this out. I swapped the drives for x and a axis. Then tried to move the servos with the pinions not attached to the rack. Everything work great. I swapped the drives back to their original position. Everything worked as it should. I then connected the gearboxes to the rack. I slowly jogged the x and a axis, the gradually increased speed. Still there were zero faults.

I might of had a bad connection on one of the pins, or a damaged connector, but for whatever reason it is working.

I tried to read out the drive parameters using GDTool, but had zero luck.

I will send you the log files tonight when I get back working on it.


Thanks

Steve

[scrambled]

Tero-

back to square one. The motor will only run for 5-10 inches then it gets a fault.

I tried several times to connet to the communication port of the drives. I also disconnected the HV, the motor and the encoder connections to limit any type of noise.

here is a copy of the log.


What else can I try?



Steve

GDtool Version 2.5.1

Initializing spishell...
succeed.

setConnectionStatus
connected
load
Loading default.xml

XML in: CFG_MOTOR_MODE Max: 7 Min: 0 Current: 1
XML in: CFG_RECOVERY_SPEED Max: 32767 Min: 1 Current: 200
XML in: CFG_DEFAULT_CONTROL_MODE Max: 4 Min: 0 Current: 1
XML in: CFG_FERROR_TRIP Max: 16383 Min: 0 Current: 500
XML in: CFG_MULTIPLIER Max: 30000 Min: 1 Current: 50
XML in: CFG_DIVIDER Max: 30000 Min: 1 Current: 50
XML in: CFG_PULSE_MODE Max: 4 Min: 0 Current: 4
XML in: CFG_ABS_IN_OFFSET Max: 65535 Min: 0 Current: 0
XML in: CFG_DRIVE_FLAGS Max: 65535 Min: 0 Current: 8
XML in: CFG_MOTION_FAULT_THRESHOLD Max: 16384 Min: 0 Current: 0
XML in: CFG_VEL_I Max: 32767 Min: 0 Current: 300
XML in: CFG_POS_P Max: 32767 Min: 0 Current: 10
XML in: CFG_VEL_P Max: 32767 Min: 0 Current: 1500
XML in: CFG_AD_VEL_I Max: 32767 Min: 0 Current: 10000
XML in: CFG_AD_POS_P Max: 32767 Min: 0 Current: 20000
XML in: CFG_AD_VEL_P Max: 32767 Min: 0 Current: 10000
XML in: CFG_VEL_FF Max: 32767 Min: 0 Current: 0
XML in: CFG_ACC_FF Max: 32767 Min: 0 Current: 0
XML in: CFG_AD_LIM Max: 16383 Min: 0 Current: 1
XML in: CFG_TORQ_P Max: 30000 Min: 10 Current: 500
XML in: CFG_TORQ_I Max: 30000 Min: 0 Current: 15
XML in: CFG_TORQUELIMIT_PEAK Max: 45000 Min: 0 Current: 2100
XML in: CFG_TORQUELIMIT_CONT Max: 16000 Min: 0 Current: 1600
XML in: CFG_TORQUELIMIT_HOMING Max: 16000 Min: 0 Current: 1000
XML in: CFG_TORQUELIMIT_FAULT Max: 48000 Min: 0 Current: 6000
XML in: CFG_ENCODER_PPR Max: 12500 Min: 50 Current: 1000
XML in: CFG_MOTOR_POLEPAIRS Max: 100 Min: 1 Current: 4
XML in: CFG_PHASESEARCH_VOLTAGE_SLOPE Max: 20000 Min: 15 Current: 500
XML in: CFG_PHASESEARCH_CURRENT Max: 10000 Min: 100 Current: 1000
XML in: CFG_THERMAL_TIMECONSTANT Max: 7200 Min: 30 Current: 200
XML in: CFG_TRAJ_PLANNER_ACCEL Max: 32767 Min: 1 Current: 10
XML in: CFG_TRAJ_PLANNER_VEL Max: 32767 Min: 1 Current: 5000
XML in: CFG_TRAJ_PLANNER_HOMING_VEL Max: 32767 Min: 1 Current: 200
XML in: CFG_TRAJ_PLANNER_HOMING_ACCEL Max: 32767 Min: 1 Current: 10
XML in: CFG_TRAJ_PLANNER_HOMING_BITS Max: 127 Min: 0 Current: 7
XML in: CFG_TRAJ_PLANNER_HOMING_HARD_STOP_THRESHOLD Max: 16384 Min: 0 Current: 0
XML in: CFG_TRAJ_PLANNER_HOMING_OFFSET_LO Max: 65535 Min: 0 Current: 0
XML in: CFG_TRAJ_PLANNER_HOMING_OFFSET_HI Max: 65535 Min: 0 Current: 0
XML in: CFG_ABSPOSITION_HI_LIMIT_HI Max: 65535 Min: 0 Current: 0
XML in: CFG_ABSPOSITION_HI_LIMIT_LO Max: 65535 Min: 0 Current: 0
XML in: CFG_ABSPOSITION_LO_LIMIT_HI Max: 65535 Min: 0 Current: 0
XML in: CFG_ABSPOSITION_LO_LIMIT_LO Max: 65535 Min: 0 Current: 0
XML in: CFG_TORQUE_LPF_BANDWIDTH Max: 9 Min: 0 Current: 5
XML in: CFG_VELOCITY_FERROR_TRIP Max: 16383 Min: 0 Current: 100
XML in: RUNTIME_CAPTURE_SOURCE Max: 65535 Min: 0 Current: 1284
XML in: RUNTIME_CAPTURE_SOURCE_2 Max: 65535 Min: 0 Current: 487
XML in: RUNTIME_CAPTURE_TRIGGER Max: 65535 Min: 0 Current: 2
XML in: RUNTIME_CAPTURE_SAMPLERATE Max: 65535 Min: 0 Current: 200
XML in: RUNTIME_CAPTURE_BUF_LENGHT Max: 2064 Min: 0 Current: 2000
XML in: RUNTIME_FAULTBITS Max: 1 Min: 2 Current: 0
XML in: RUNTIME_STATUSBITS Max: 1 Min: 2 Current: 12315
XML in: RUNTIME_CONTROL_MODE Max: 4 Min: 0 Current: 1
XML in: RUNTIME_INPUT_WATCHDOG Max: 65535 Min: 0 Current: 0
XML in: RUNTIME_BUS_VOLTAGE_SCALE_100V Max: 1 Min: 2 Current: 21370
XML in: RUNTIME_CURRENT_SCALE_1A Max: 1 Min: 2 Current: 662
XML in: RUNTIME_RETURN_PARAMETER_TYPE Max: 31 Min: 0 Current: 0
XML in: RUNTIME_FEATURES1 Max: 1 Min: 2 Current: 1599
XML in: RUNTIME_FIRMWARE_VERSION Max: 1 Min: 2 Current: 119
XML in: RUNTIME_DEVICE_TYPE Max: 1 Min: 2 Current: 200
XML in: READONLY_PWM_FREQUENCY Max: 1 Min: 2 Current: 20000
XML in: READONLY_PID_FREQUENCY Max: 1 Min: 2 Current: 2500
XML in: RUNTIME_OVERRIDE_COMMUTATION_ANGLE Max: 65535 Min: 0 Current: 0
XML in: RUNTIME_DEBUGPARAM1 Max: 65535 Min: 0 Current: 0
XML in: READONLY_BACKWARDS_COMP_VERSION Max: 1 Min: 2 Current: 119
XML in: CFG_OPTO_OUT1_SOURCE Max: 65535 Min: 0 Current: 16402
XML in: CFG_OPTO_OUT2_SOURCE Max: 65535 Min: 0 Current: 16405
XML in: CFG_DISABLE_IN_SOURCE Max: 65535 Min: 0 Current: 7
XML in: CFG_CLEAR_FAULTS_EDGESOURCE Max: 65535 Min: 0 Current: 7
XML in: CFG_START_HOMING_EDGESOURCE Max: 65535 Min: 0 Current: 7
XML in: CFG_STAT_USER_BIT_SOURCE Max: 65535 Min: 0 Current: 240
XML in: CFG_HV_VOLTAGE_LOW_LIMIT Max: 10500 Min: 1000 Current: 1000
XML in: CFG_HV_VOLTAGE_LIMIT Max: 10500 Min: 2000 Current: 10500
Import succeeded.
fill
Setting property CFG_MOTOR_MODE value = 1
updatePinCaptions
SPI Shell version 1.1
>
Enabling configure mode.
Shell command: OPEN NORMAL

Running OPEN...
Normal mode enabled
>
Got input from SPI shell
Saatiin viesti:  0

Parametreja: 2
 0

USB mode configured.

Configuring connection
Shell command: OPEN

Running OPEN...
cDevice::sendCommandOnly( 2, 0 )
0x200008a -> 0x0
cDevice::sendCommandOnly( 2, 0 )
0x200008a -> 0x0
cDevice::sendCommandOnly( 2, 0 )
0x200008a -> 0x0
Connection failed.
>
Got input from SPI shell
Saatiin viesti:  0
 0

Parametreja: 3
 0

setConnectionStatus
connected
Connection failed
 0

setConnectionStatus
connected
Connection failed

Enabling configure mode.
Shell command: OPEN NORMAL

Running OPEN...
Normal mode enabled
>
Got input from SPI shell
Saatiin viesti:  0

Parametreja: 2
 0

USB mode configured.

Configuring connection
Shell command: OPEN

Running OPEN...
cDevice::sendCommandOnly( 2, 0 )
0x200008a -> 0x0
cDevice::sendCommandOnly( 2, 0 )
0x200008a -> 0x0
cDevice::sendCommandOnly( 2, 0 )
0x200008a -> 0x0
Connection failed.
>
Got input from SPI shell
Saatiin viesti:  0
 0

Parametreja: 3
 0

setConnectionStatus
connected
Connection failed
 0

setConnectionStatus
connected
Connection failed

Enabling configure mode.
Shell command: OPEN NORMAL

Running OPEN...
Normal mode enabled
>
Got input from SPI shell
Saatiin viesti:  0

Parametreja: 2
 0

USB mode configured.

Configuring connection
Shell command: OPEN

Running OPEN...
cDevice::sendCommandOnly( 2, 0 )
0x200008a -> 0x0
cDevice::sendCommandOnly( 2, 0 )
0x200008a -> 0x0
cDevice::sendCommandOnly( 2, 0 )
0x200008a -> 0x0
Connection failed.
>
Got input from SPI shell
Saatiin viesti:  0
 0

Parametreja: 3
 0

setConnectionStatus
connected
Connection failed
 0

setConnectionStatus
connected
Connection failed

Sending reset command into drive
Shell command: RESET

Running RESET...
cDevice::sendCommandOnly( 120, 0 )
Normal mode enabled

Got input from SPI shell
Saatiin viesti:  0
 0

Parametreja: 3
 0

setConnectionStatus
connected
Connection failed
 0

USB mode configured.

cDevice::sendCommandOnly( 2, 0 )
0x200008a -> 0x0
cDevice::sendCommandOnly( 2, 0 )
0x200008a -> 0x0
cDevice::sendCommandOnly( 2, 0 )

0x200008a -> 0x0
Connection failed.
>
Got input from SPI shell
Saatiin viesti:  0
 0

Parametreja: 3
 0

setConnectionStatus
connected
Connection failed
 0

setConnectionStatus
connected
Connection failed

Clearing drive faults
Shell command: CLEARFAULTS

Running CLEARFAULTS...
cDevice::sendCommand( 20, 65535 )
>
Got input from SPI shell
Saatiin viesti:  0

Parametreja: 2
 0

setConnectionStatus
connected
Connection failed

Enabling configure mode.
Shell command: OPEN NORMAL

Running OPEN...
Normal mode enabled
>
Got input from SPI shell
Saatiin viesti:  0

Parametreja: 2
 0

USB mode configured.

Configuring connection
Shell command: OPEN

Running OPEN...
cDevice::sendCommandOnly( 2, 0 )
0x200008a -> 0x0
cDevice::sendCommandOnly( 2, 0 )
0x200008a -> 0x0
cDevice::sendCommandOnly( 2, 0 )
0x200008a -> 0x0
Connection failed.
>
Got input from SPI shell
Saatiin viesti:  0
 0

Parametreja: 3
 0

setConnectionStatus
connected
Connection failed
 0

setConnectionStatus
connected
Connection failed

[scrambled]

Tero-

Any news or ideas I can try?


Steve

[Xerxes]

Hmm, from log it seems that return data contains always zero bits only. That's why GDtool says connection fails. However, reason why that happens can't be analyzed from log. It should not if cable works and drive is in SPI mode (connection routine strictly followed and electrical connection is ok).

Its also unlikely that communication optoisolators both drives somehow failed at same moment.

Here is additional cable test: plug USB cable in computer and measure voltage between black and red wires. There should be about 5VDC.

[scrambled]

Tero-

I will try that tonight. I went ahead and ordered a new cable last week. It should be here thur or Fri.


Stece

[scrambled]

Tero-

I checked the voltage on several of the USB ports, and the voltages were 5.0 and 5.1

I tried again tonight to communicate between x,a,z and none of them would communicate.


Steve