On Fri, 5 Dec 2008, Tom wrote:
> Date: Fri, 5 Dec 2008 07:12:01 +0000 (UTC)
> From: Tom <[EMAIL PROTECTED]>
> Reply-To: "Enhanced Machine Controller (EMC)"
> <[email protected]>
> To: [email protected]
> Subject: [Emc-users] servo chatter at rest is going to drive me nuts...
>
> I have all 3 axes of the Kasuga converted to EMC2 control using 500 line
> encoders (2000ppr)on brush servos and Advanced Motion PWM amps.
> The ballscrews are 5mm pitch. I have the ini set for 10160 encoder counts
> per inch.
> While pid tuning I noticed that in order to get my ferror down to below
> .002" during the accel/decel ramps, I had to reduce the deadband. This was
> after optimizing p,i,d,ff0,ff1,ff2. This causes the servos to continually
> hunt about +/- .0002"(two tenths)while at rest which makes a godawful chatter.
> The symphony of clicks, moans, pops and chatter is going to drive me nuts
> eventually. Of course, I can always turn the machine off in Axis to stop the
> noise - but I want to leave the machine on while fixturing, setting tool &
> work offsets, etc.
> Is there some secret to tuning this chatter out while keeping following
> error down?
Is there anyway to change the tuning parameters dynamically? Just bumping up
the deadband when idle would probably solve the problem.
Peter Wallace
Mesa Electronics
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