[EMAIL PROTECTED] wrote: > Hi > I have another pic http://www.conceptmachinery.com/Sh11.jpg > On the graph > X pos-cmd commanded position. > Xpos-fb > Xpos-cmd commanded position and it parallel to Xpos-fb. > That what is should be? > > X output begins ok but ends wrong. Think X output should looks like trapeze. > If you ask for more velocity than the drive can produce, then the command will hit the limit, as you are seeing. Try this at a lower speed, and see if it works better. Otherwise, it is what one would suspect - a wild discontinuity as the drive recovers from running open-loop for 400 ms. > What need to change to make second part of X output looks like first? > My current P 230, I 1.8, D0. > > Also pid.0.error should be similar graph to X output, is this right. > When X output become flat so should be pid.0.error become flat. > You are commanding higher velocity than the drive can deliver, EMC is no longer in control of the motor, so the error is unbounded.
> What should I change here Slow down, or change whatever is needed to allow the drive to put out more voltage (speed) to the motor. Jon ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
