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Hi Dave I think that some constant load on the motor make yellow line flat - straight one. So, I removed all pulleys from shaft of motor and that made motor ran free. After I did that, and call X cmd pos, ran motor front and back and I can see some perpendicular part (0.4") to the horizontal yellow line. Does that mean something? Thank you, aramk On Dec 12, 2006, at 2:07 AM, Kasparov, Aram wrote: > Hi Dave > > I am using MESA 5i20 card. Is any difference in tune up process > makes type of card that in use? (MESA vr VITAL) Not that I know of. Tuning in velocity mode is a bit different than tuning in torque mode but the goal is the same. > > > Also, what is exact definition of "oscillate"? to move back and forth in a periodic manner as in a pendulum; sine wave. > > Any motion of motor should send some signals and oscilloscope > should show waves. If oscilloscope can't show wave it means that > oscilloscope is not sensitive enough. > plotting position vs time should give you a nice sine wave at a given frequency. > So, can I say that oscillate means any motion of motor? No, motion in one direction is not oscillation; only when it goes back and forth. If P is set low you will get no motion; as you increase P the axis should get more and more jittery. Finally it should sustain back and forth motion. Don't do this too long; just long enough to make certain it is not going to dampen out. Then multiply the P that produced that by 0.6 and that is a starting value for P. When you are doing this I and D are both set to zero. After that works then go adjust FF1. That is my way of doing things. Others have different procedures and they work also. > >
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