> I would only add I gain at the end of tuning to keep static errors and errors > at low speeds to minimum. Enabling I gain early in tuning will only mask the > effects of the FF1 and FF2 tuning
OK, I will do some more tuning with only P-gain and try to get the FF1 and FF2 gains right. > 1. Is it possible that you are running into current limits of your HBridge? > (ours have little red LEDS the indicate current limit), sometimes you can > hear the current limit in the motor if the mechanical noise lets you I don't think there are indicators for that on the pico drive. I will check if the current limit can be set higher. > 2. Are you running out of headroom (in other words what PWM values are > supplied when you have the large errors) I would have at least 20% of > headroom available. The DAC is not maxing out during the cruise-phase. The motor will turn around 2400 rpm at DAC=9.7 and the rapid move was around 8-8.5 on the DAC. I don't really need that fast rapids so could go a bit lower. The DAC signal looks trapezoidal during a move, but I guess the motor current peaks at accel/decel ? > 3. What sample frequency are you using? with torque mode and straight PWM amps > you will need a high sample rate than used with velocity mode servos. A > a higher sample rate will allow higher P gains with these amps, improving > performance. This is the standard 1 ms servo-thread. I could try decreasing that a bit. Will EMC2 report about real-time delays if I reduce the servo period too much? Anders ------------------------------------------------------------------------- This SF.net email is sponsored by the 2008 JavaOne(SM) Conference Don't miss this year's exciting event. There's still time to save $100. Use priority code J8TL2D2. http://ad.doubleclick.net/clk;198757673;13503038;p?http://java.sun.com/javaone _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
