On Sunday 09 December 2012 21:36:51 Jon Elson did opine: > Gene Heskett wrote: > > Should I be able to induce a rail to rail oscillation with Pgain? > > You probably can, but in an actual machine, it would be a VERY bad thing > to do! Fine for a simulation exercise, but it is likely to cause > damage, perhaps permanent damage to mechanical parts. >
Chuckle. ;-) I still recall a comment Stuart S. made re the z axis on his cinci oscillating, saying they recorded an earthquake over at the UNI. :) This "two gerbils in a wheel" (250 watt motor) powered machine may be an exception. This is not a reversible servo, it can only speed up or slow down, and the slowdown isn't terribly active, just a coast down to the new lower speed. The worst it can do is hit the accelerator long enough, and hard enough, to blow the 3 amp fuse in the controller. To that end, I have a lowpass in the command circuit that ramps the speed both ways, slow enough so as not to blow the fuse _if_ the spindle can turn freely. A much faster lowpass watches the error and tries to shut things down before the fuse clears. Feedback, from the encoder.0.velocity is direct to pid.0.feedback, no filtering at all there. > Jon > > ------------------------------------------------------------------------ > ------ LogMeIn Rescue: Anywhere, Anytime Remote support for IT. Free > Trial Remotely access PCs and mobile devices and provide instant > support Improve your efficiency, and focus on delivering more value-add > services Discover what IT Professionals Know. Rescue delivers > http://p.sf.net/sfu/logmein_12329d2d > _______________________________________________ > Emc-developers mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-developers Cheers, Gene -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) My web page: <http://coyoteden.dyndns-free.com:85/gene> is up! BOFH excuse #251: Processes running slowly due to weak power supply I was taught to respect my elders, but its getting harder and harder to find any... ------------------------------------------------------------------------------ LogMeIn Rescue: Anywhere, Anytime Remote support for IT. Free Trial Remotely access PCs and mobile devices and provide instant support Improve your efficiency, and focus on delivering more value-add services Discover what IT Professionals Know. Rescue delivers http://p.sf.net/sfu/logmein_12329d2d _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
