On Tue, 19 Oct 2021 at 18:21, Rainer Stelzer <[email protected]> wrote: > > So the PID saw a giant difference on the feedback and the command input > and acted accordingly with a giant output. > It was only for one servo-thread period, but depending on your PID > setup, this can cause a significant spike. > > This is really a tricky issue, esp. when you are focused on PID tuning > and this kind of side effects come into play .
The LinuxCNC PID component has a pin to avoid this problem, it can be connected to index-enable. http://linuxcnc.org/docs/2.8/html/man/man9/pid.9.html Which basically freezes the PID for one servo cycle when the index resets. -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1912 _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
