Am 21.10.2009 um 07:08 schrieb Jon Elson: > Haberler Michael wrote: >> Am 21.10.2009 um 02:40 schrieb Jon Elson: >> >> >>> Well, there's the problem, the sampling rate is just too low. >>> >> >> well that's what Steve said about his setup, but it's not the problem >> I described >> >> > Well, that HalScope trace sure indicates SOMETHING is really wrong. I ... > I think having > the traj. planner at the servo thread > rate has been standard for a couple of years, but you should check > that > in your hal file. > > loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD > servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec= > [EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES > > > If you have a line like this, then your trajectory planner is > running at > a rate specified in your .ini > file in the [TRAJ] section, the parameter is named "TRAJ_PERIOD".
that was in place as you described I'll post the config files later today, I'll remove the fluff first > The fact that the error increases linearly > and then suddenly reverses > indicates your servos are in either current or velocity limit, and the > system is completely open-loop > all the time. You might look at the output of PID and see what it > looks > like. (I am expecting > it will appear as a square wave, always on one limit or the > other.) I > now doubt a higher > resolution encoder will help this at all. well, it's a stepper system, no PID's on the axes. Any signals (motion, axis etc) you're suggesting to plot? -Michael ------------------------------------------------------------------------------ Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
