Dynomotion

Group: DynoMotion Message: 1620 From: bouseman73 Date: 7/31/2011
Subject: tuning DC motor
Hi
I have KFlop + KAnalog, DC motor (40v, 100W, 3000 rpm) with encoder (A,B, 2000 count per cycle) and motor driver (amplifier) "advanced motion controls 30A8T" with analog control 0-10v.
Could you explain me step by step how can tuning my motor.
Or give me link about it pls.
Only one parametr is understandable for me V = 3000rpm / 60 sec * 2000 encoder = 10000.

I have read KFLOP Help, but I understood nothing about IIR Filter and parameters :(

thanks

Slava


pics http://groups.yahoo.com/group/DynoMotion/photos/album/1943959064/pic/list
Group: DynoMotion Message: 1621 From: Tom Kerekes Date: 7/31/2011
Subject: Re: tuning DC motor
Hi Slava,
 
Thanks for the plots.  I Googled your Amplifier for you and found this:
 
 
How is it wired? Does your motor have a tachometer?  What mode are you using?
 
The thing I see in the plots is very low gain or high friction or something.  In the Command,Position, Output vs Time Plot notice when the Output Voltage to the Amplifier(green plot) is really big you do get some motion (Red plot changes in the proper direction toward the blue plot).  But when the output is at 800 DAC counts for a long time the motor sits still ??  This would correspond to about 4V into the amplifier.  So your first step should be to disable the axis, then manually command DAC values on the console screen to understand what is going on (ie DAC2=200 would apply ~1V to the amplifier).  You might just need to set gain pots in the amplifier.  Commanding 40% of full power (speed) to the amplifier and getting no response is going to make tuning very difficult or impossible.  Always make sure your Amplifier is working reasonably before trying too tune servos.  Your configuration settings look reasonable as a starting point.  
 
Regards
TK


--- On Sun, 7/31/11, bouseman73 <bouseman73@...> wrote:

From: bouseman73 <bouseman73@...>
Subject: [DynoMotion] tuning DC motor
To: DynoMotion@yahoogroups.com
Date: Sunday, July 31, 2011, 8:04 AM

 
Hi
I have KFlop + KAnalog, DC motor (40v, 100W, 3000 rpm) with encoder (A,B, 2000 count per cycle) and motor driver (amplifier) "advanced motion controls 30A8T" with analog control 0-10v.
Could you explain me step by step how can tuning my motor.
Or give me link about it pls.
Only one parametr is understandable for me V = 3000rpm / 60 sec * 2000 encoder = 10000.

I have read KFLOP Help, but I understood nothing about IIR Filter and parameters :(

thanks

Slava

pics http://groups.yahoo.com/group/DynoMotion/photos/album/1943959064/pic/list
Group: DynoMotion Message: 1653 From: bouseman73 Date: 8/7/2011
Subject: Re: tuning DC motor
Hi
You were right about friction. My Z-axis has electrical bracket.
And I have forgot to switch them off.
Right there new version of my tuning (see pics).
Is it OK? Or it needs more tuning?

Slava

http://groups.yahoo.com/group/DynoMotion/photos/album/1959061952/pic/list

--- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@...> wrote:
>
> Hi Slava,
>  
> Thanks for the plots.  I Googled your Amplifier for you and found this:
>  
> http://www.a-m-c.com/download/datasheet/30a8.pdf
>  
> How is it wired? Does your motor have a tachometer?  What mode are you using?
>  
> The thing I see in the plots is very low gain or high friction or something.  In the Command,Position, Output vs Time Plot notice when the Output Voltage to the Amplifier(green plot) is really big you do get some motion (Red plot changes in the proper direction toward the blue plot).  But when the output is at 800 DAC counts for a long time the motor sits still ??  This would correspond to about 4V into the amplifier.  So your first step should be to disable the axis, then manually command DAC values on the console screen to understand what is going on (ie DAC2=200 would apply ~1V to the amplifier).  You might just need to set gain pots in the amplifier.  Commanding 40% of full power (speed) to the amplifier and getting no response is going to make tuning very difficult or impossible.  Always make sure your Amplifier is working reasonably before trying too tune servos.  Your configuration settings look reasonable as a starting point.  
>  
> Regards
> TK
>
>
> --- On Sun, 7/31/11, bouseman73 <bouseman73@...> wrote:
>
>
> From: bouseman73 <bouseman73@...>
> Subject: [DynoMotion] tuning DC motor
> To: DynoMotion@yahoogroups.com
> Date: Sunday, July 31, 2011, 8:04 AM
>
>
>  
>
>
>
> Hi
> I have KFlop + KAnalog, DC motor (40v, 100W, 3000 rpm) with encoder (A,B, 2000 count per cycle) and motor driver (amplifier) "advanced motion controls 30A8T" with analog control 0-10v.
> Could you explain me step by step how can tuning my motor.
> Or give me link about it pls.
> Only one parametr is understandable for me V = 3000rpm / 60 sec * 2000 encoder = 10000.
>
> I have read KFLOP Help, but I understood nothing about IIR Filter and parameters :(
>
> thanks
>
> Slava
>
> pics http://groups.yahoo.com/group/DynoMotion/photos/album/1943959064/pic/list
>
Group: DynoMotion Message: 1654 From: Tom Kerekes Date: 8/7/2011
Subject: Re: tuning DC motor
Hi Slava,
 
Very good I think It looks reasonable.  Except for the 1000 count step response is very oscillatory.  But when testing Step response you shouldn't really use such a large (1000 count) step.  In normal operation the axis would never expect to see a sudden 1000 count error.  So that might be ok.  But you might reduce the P and D gains a bit to make it more stable.
 
I assume all your filters are cleared?  You might add a low pass filter to smooth the output spikes caused by the encoder's steps and the 120 D gain.  Try setting Filter #2 to 2nd Order Low Pass 500Hz Q1.4.
 
To eliminate small residual errors that persist I gain can be used.  Try something like 0.001.
 
Since you don't ever seem to be using more than 500 DAC counts on the output you might set the Max Output and Max Integrator to 1000 to be "safer"
 
Also Max Error might be reduced to 200 Encoder counts.
 
Max Following Error can also be set to a value such as 500 encoder counts to trip a fault if such an error is ever detected.
 
Regards
TK
 
 


--- On Sun, 8/7/11, bouseman73 <bouseman73@...> wrote:

From: bouseman73 <bouseman73@...>
Subject: [DynoMotion] Re: tuning DC motor
To: DynoMotion@yahoogroups.com
Date: Sunday, August 7, 2011, 11:56 AM

 
Hi
You were right about friction. My Z-axis has electrical bracket.
And I have forgot to switch them off.
Right there new version of my tuning (see pics).
Is it OK? Or it needs more tuning?

Slava

http://groups.yahoo.com/group/DynoMotion/photos/album/1959061952/pic/list

--- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@...> wrote:
>
> Hi Slava,
>  
> Thanks for the plots.  I Googled your Amplifier for you and found this:
>  
> http://www.a-m-c.com/download/datasheet/30a8.pdf
>  
> How is it wired? Does your motor have a tachometer?  What mode are you using?
>  
> The thing I see in the plots is very low gain or high friction or something.  In the Command,Position, Output vs Time Plot notice when the Output Voltage to the Amplifier(green plot) is really big you do get some motion (Red plot changes in the proper direction toward the blue plot).  But when the output is at 800 DAC counts for a long time the motor sits still ??  This would correspond to about 4V into the amplifier.  So your first step should be to disable the axis, then manually command DAC values on the console screen to understand what is going on (ie DAC2=200 would apply ~1V to the amplifier).  You might just need to set gain pots in the amplifier.  Commanding 40% of full power (speed) to the amplifier and getting no response is going to make tuning very difficult or impossible.  Always make sure your Amplifier is working reasonably before trying too tune servos.  Your configuration settings look reasonable as a starting point.  
>  
> Regards
> TK
>
>
> --- On Sun, 7/31/11, bouseman73 <bouseman73@...> wrote:
>
>
> From: bouseman73 <bouseman73@...>
> Subject: [DynoMotion] tuning DC motor
> To: DynoMotion@yahoogroups.com
> Date: Sunday, July 31, 2011, 8:04 AM
>
>
>  
>
>
>
> Hi
> I have KFlop + KAnalog, DC motor (40v, 100W, 3000 rpm) with encoder (A,B, 2000 count per cycle) and motor driver (amplifier) "advanced motion controls 30A8T" with analog control 0-10v.
> Could you explain me step by step how can tuning my motor.
> Or give me link about it pls.
> Only one parametr is understandable for me V = 3000rpm / 60 sec * 2000 encoder = 10000.
>
> I have read KFLOP Help, but I understood nothing about IIR Filter and parameters :(
>
> thanks
>
> Slava
>
> pics http://groups.yahoo.com/group/DynoMotion/photos/album/1943959064/pic/list
>
Group: DynoMotion Message: 1655 From: Tom Kerekes Date: 8/7/2011
Subject: Re: tuning DC motor
Ha!  I just now realized you meant to say "brake" not "bracket"
 
:}
 
TK

--- On Sun, 8/7/11, bouseman73 <bouseman73@...> wrote:

From: bouseman73 <bouseman73@...>
Subject: [DynoMotion] Re: tuning DC motor
To: DynoMotion@yahoogroups.com
Date: Sunday, August 7, 2011, 11:56 AM

 
Hi
You were right about friction. My Z-axis has electrical bracket.
And I have forgot to switch them off.
Right there new version of my tuning (see pics).
Is it OK? Or it needs more tuning?

Slava

http://groups.yahoo.com/group/DynoMotion/photos/album/1959061952/pic/list

--- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@...> wrote:
>
> Hi Slava,
>  
> Thanks for the plots.  I Googled your Amplifier for you and found this:
>  
> http://www.a-m-c.com/download/datasheet/30a8.pdf
>  
> How is it wired? Does your motor have a tachometer?  What mode are you using?
>  
> The thing I see in the plots is very low gain or high friction or something.  In the Command,Position, Output vs Time Plot notice when the Output Voltage to the Amplifier(green plot) is really big you do get some motion (Red plot changes in the proper direction toward the blue plot).  But when the output is at 800 DAC counts for a long time the motor sits still ??  This would correspond to about 4V into the amplifier.  So your first step should be to disable the axis, then manually command DAC values on the console screen to understand what is going on (ie DAC2=200 would apply ~1V to the amplifier).  You might just need to set gain pots in the amplifier.  Commanding 40% of full power (speed) to the amplifier and getting no response is going to make tuning very difficult or impossible.  Always make sure your Amplifier is working reasonably before trying too tune servos.  Your configuration settings look reasonable as a starting point.  
>  
> Regards
> TK
>
>
> --- On Sun, 7/31/11, bouseman73 <bouseman73@...> wrote:
>
>
> From: bouseman73 <bouseman73@...>
> Subject: [DynoMotion] tuning DC motor
> To: DynoMotion@yahoogroups.com
> Date: Sunday, July 31, 2011, 8:04 AM
>
>
>  
>
>
>
> Hi
> I have KFlop + KAnalog, DC motor (40v, 100W, 3000 rpm) with encoder (A,B, 2000 count per cycle) and motor driver (amplifier) "advanced motion controls 30A8T" with analog control 0-10v.
> Could you explain me step by step how can tuning my motor.
> Or give me link about it pls.
> Only one parametr is understandable for me V = 3000rpm / 60 sec * 2000 encoder = 10000.
>
> I have read KFLOP Help, but I understood nothing about IIR Filter and parameters :(
>
> thanks
>
> Slava
>
> pics http://groups.yahoo.com/group/DynoMotion/photos/album/1943959064/pic/list
>