Re: [Emc-users] Maybe a minimally printed harmonic drive? -> tuning manually -> agree with mathematics

2021-05-03 Thread Nicklas SB Karlsson
Den 2021-05-04 kl. 01:22, skrev Jon Elson: On 05/03/2021 12:03 PM, Nicklas SB Karlsson wrote: Den 2021-05-03 kl. 17:42, skrev Jon Elson: Assuming machine is lubricated there shear force in oil/grease depend on speed so it might actually be rather close to viscous friction and hence rather

Re: [Emc-users] Maybe a minimally printed harmonic drive?

2021-05-03 Thread Jon Elson
On 05/03/2021 07:35 PM, Gene Heskett wrote: Thanks Jon, I hadn't thought of it in that exact manner, and it makes perfect sense. So I'll likely give it a shot in the next few days. Does there seem to be a golden ratio that works well consistently? Some people seem to have a feel for the

Re: [Emc-users] Maybe a minimally printed harmonic drive?

2021-05-03 Thread Gene Heskett
On Monday 03 May 2021 19:25:48 Jon Elson wrote: > On 05/03/2021 02:34 PM, Gene Heskett wrote: > > Friction will of coarse vary, but assume the amplitude of > > the jitter is constantly reset to zero by a passing edge > > from the encoder, but it times out in 2 millisecs. Leaving > > the pwmgen

Re: [Emc-users] Maybe a minimally printed harmonic drive?

2021-05-03 Thread Jon Elson
On 05/03/2021 02:34 PM, Gene Heskett wrote: Friction will of coarse vary, but assume the amplitude of the jitter is constantly reset to zero by a passing edge from the encoder, but it times out in 2 millisecs. Leaving the pwmgen outputing a very low duration pulse in one direction or the

Re: [Emc-users] Maybe a minimally printed harmonic drive?

2021-05-03 Thread Jon Elson
On 05/03/2021 12:03 PM, Nicklas SB Karlsson wrote: Den 2021-05-03 kl. 17:42, skrev Jon Elson: Assuming machine is lubricated there shear force in oil/grease depend on speed so it might actually be rather close to viscous friction and hence rather close to linear. Then an oil/grease pump is

Re: [Emc-users] Maybe a minimally printed harmonic drive?

2021-05-03 Thread Gene Heskett
On Monday 03 May 2021 11:42:54 Jon Elson wrote: > On 05/03/2021 02:57 AM, Gene Heskett wrote: > > More specifically, which of the F's is suitable for forcing a closer > > to null settling point when there is considerable friction in the > > system? > > That's the problem! Friction is nonlinear,

Re: [Emc-users] Maybe a minimally printed harmonic drive?

2021-05-03 Thread Nicklas SB Karlsson
Den 2021-05-03 kl. 17:42, skrev Jon Elson: On 05/03/2021 02:57 AM, Gene Heskett wrote: More specifically, which of the F's is suitable for forcing a closer to null settling point when there is considerable friction in the system? That's the problem!  Friction is nonlinear, and it hurts during

Re: [Emc-users] Maybe a minimally printed harmonic drive?

2021-05-03 Thread Jon Elson
On 05/03/2021 02:57 AM, Gene Heskett wrote: More specifically, which of the F's is suitable for forcing a closer to null settling point when there is considerable friction in the system? That's the problem! Friction is nonlinear, and it hurts during acceleration but HELPS during deceleration.

Re: [Emc-users] Maybe a minimally printed harmonic drive?

2021-05-03 Thread Gene Heskett
On Sunday 02 May 2021 21:02:29 Gene Heskett wrote: > On Sunday 02 May 2021 16:34:43 Jon Elson wrote: > > On 05/02/2021 01:00 PM, Chris Albertson wrote: > > > The below is exactly true. The problem is that PID is widely used > > > and PID is only "reactive" it can only deal with what has already