faulhaber ie-512

[ggenc]

Hey all,

I've got a problem with the encoder counts. The system is composed of a 2224 Faulhaber micromotor, with a IE2-512 encoder, MID-7654 driver and 7358 motion controller. I will use MAX to configure my system but the following error count is rapidly increasing as I started the motion. Also when I tried to halt the motion the motor is accelerating. At first I thought the encoder has the problem but I checked using an oscilloscope, and it's working properly. I need to configure the axis as servo. The initial following error is always -1000 or 1000. And everytime I command a position i goes back and forward between 1000 and -1000.

I used MAX to configure a system which has 7390, Yaskawa driver, corresponding NI UMI and AC motors. It worked properly. Now I am out of ideas.

[ggenc]

I'm thinking that the directions of the encoder counts and the motion can cause this problem but I can't think of a solution. Is there a way to change the polarity of the encoder except that the encoder settings tab of the MAX as I tried it already.

ggenc

[AnalogKid2DigitalMan]

You could try swapping the encoder channels around.

Have you tried to tune your system. This is a micro motor with hardly any inertial, thus I would suggest trying to turne your servo loop response.

See:

http://zone.ni.com/devzone/cda/tut/p/id/2923

[ggenc]

Yes, I've already swapped the encoder channels and I tried tuning the servo. The problem is at the very beginning of the system initialization. After 7358 is initialized, the following error is 1000 or -1000. And it never goes below abs(1000).

[Jasper S]

ggenc,

The behavior you are describing sounds very strange, I would like to get some more information from you to help diagnose the problem.

Are you seeing this behavior in the 1-D Interactive window in MAX directly after you perform an initialize, or do you start motion before you see this problem?  Is your allowed following error set to 1000?  Have you tried changing it to another value, if so what happens?

Also, you can change the polarity of your encoder signals without swapping the lines, by simply going to your axis' encoder settings tab.

Regards,

Jasper S

[ruffstuff]

I understand this is from 14 years ago and you may no longer be active.

Did you ever resolve this issue? We are having a very similar problem with the counts being off, the motor moves when halted form NI MAX etc., and I'm running out of ways to diagnose this near-legacy hardware.