On Fri, 10 Jul 2009, Leslie Newell wrote:
> Date: Fri, 10 Jul 2009 23:19:06 +0100
> From: Leslie Newell <les.new...@fastmail.co.uk>
> Reply-To: "Enhanced Machine Controller (EMC)"
> <emc-users@lists.sourceforge.net>
> To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
> Subject: Re: [Emc-users] Hostmot2 homing
>
> Hi Peter,
>
> Interesting idea. You probably still need a delay to allow for braking.
> This isn't a real problem to implement though.
>
> Les
>
> Peter C. Wallace
>> That gives me another idea: if commanded velocity is 0, set the PID output
>> limit to 20% or so and use the PID saturate
>
Its easy to implement but I realized it does have a disadvantage compared to
the previous method, limiting PID output to ~20 % would still give you full
static torque, but dynamic performance for high frequency load variations
would be worse (the drive has less voltage to work with so changing current
will be slower)
Peter Wallace
Mesa Electronics
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