> http://www.conceptmachinery.com/ > Please do not judge anything!! – Scroll down - it is last picture. > Do not comment about anything, just that last picture – screen shot of > HAL Oscilloscope and what shout be change P I D FFO FF1 FF2 to improve > tuneup.
Is Xoutput a velocity or torque command to the servodrive? In any case it looks like it saturates about 100 ms after the move begins. When your PID output variable saturates you are no longer in closed loop control, and almost anything can happen... Check that you have the limits of the PID match the limits of the DAC (the canonical DAC-interface might specify +/-10 as the limits, but the m5i20 driver might use +/-1 anyway). Does +1 on Xoutput give you full speed forward on the X-servo, or just 1/10 of full speed? If you have the basics right then you are simply commanding your servo to move faster than it can, and you should reduce the maximum velocity in your ini file until you see that Xoutput doesn't 'hit the wall' at +1 any more during the cruise-phase of the move. AW ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
