'At one point I had put a magic marker in the spindle and had the X & Y axis drawing circles on a piece of aluminum, and after drawing a couple it started a third and just took off stopped moved back and completed the circle'
This statement tells me that the encoders are indeed wired correctly, I would probably put the blame on a poor connection that you have made on the wires attached to the encoder, probably on the encoder side. Likely it is on one axis only and on the axis that ran away. I've had that happen to me. When the wires were moved at a certain position, I lost connection to one of the encoder signals, therefore the run away. As far as the rest, I think you need more work on the PID tuning. I have only used the r510 boards and PID tuning is more trial and error.
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D. Paulson |