Kirk Wallace wrote: > On Sun, 2007-10-14 at 19:42 -0500, Chris Radek wrote: > >>On Sun, Oct 14, 2007 at 05:39:02PM -0700, Kirk Wallace wrote: >> >>>In case anyone is interested, I have my latest tuning results at these >>>links: >>> >>>http://www.wallacecompany.com/cnc_lathe/HNC/emc2/pid_x-1b.png >>> >>>http://www.wallacecompany.com/cnc_lathe/HNC/emc2/pid_z-1b.png >> >>Much better! You should be able to add some "I" now to get rid of the >>steady state errors. >> >>Chris > > > I seem to recall putting in 1.0 for I and got an oscillation. Maybe I > should try some fractional settings.
A little I, and fractional values are often needed, can help. Otherwise, you can turn up (or down) FF1 to bring the steady-state error down right to zero. Then, you can add just a tiny bit of FF2 (often something like 0.002) to bring the accel spikes down close to zero error, too. Some of these parameters are VERY sensitive. Jon ------------------------------------------------------------------------- This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now >> http://get.splunk.com/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
