>
>
> Thinking about this a little more, I think theres a good argument for
> setting output scaling to the maximum velocity in machine units per second,
> at
> least for velocity mode servos and HBridges (which are voltage mode which is
> close to velocity mode)
>
> The advantage of this scaling (I think) is that the basic PID units
> are normalized for both inch and metric machines so PID values can be the
> same
> for both. That is the input to the PID comp is already in machine units, so
> to
> maintain proportionality, the output of the PID comp should also be in
> machine
> units.
>
>
>
so do you mean you would have to know the max speed in machine units
(say 3.33 inches per second or 200 IPM )
then the scaling would be 3.33 and PID max output would be 3.33 (or slightly
less if using
an H-bridge)
Have I got that right?
Chris M
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