On Sun, 2009-12-20 at 19:10 -0700, Dustin Monroe wrote: > Hello, > > First i will start with my setup. I have a Milltronics partner 4 > retrofit that is almost complete minus the servo tuning. > > I am using a mesa 5i20 board with 7i33 and 7i37. and AMC 30a8 amplifiers. > > My first issue is with the amp tuning, I have them pretty solid, but all > axis move slowly ( 1 revolution would happen in approx. 10 minutes). > this may contribute to my problems in EMC. > > In EMC my z axis oscillates slightly, you can feel it but not hear or > see it and have had no luck completely removing it with pid tuning. if i > attempt to jog the motor moves violently and makes a grinding type noise. > Both my x and y axis will move but produce following errors after > approximately .1" of movement. > If I'm reading correctly this is a servo setup in which case you do not have servo lock or the axes should not drift. P may be set low which could make the axes soft. I'm assuming you have tachs for velocity feedback. If the gain is low on the tach input then they won't resist movement.
Just my take on things but it seems to work. 1. set gain so you get close to max velocity with input off a 9 V battery. 2. set gain on the tach so taking the amp input to zero stops the amp rapidly and the axis does not drift. 3. Set P, I, D, FF0, FF1 and FF2 to zero. 4. Increase P until the axis has sustained oscillation; then set P at 60% of that. 5. Set FF1 to 1.0 . 6. Fire up halscope and watch following error and any other parameter you want. Do short (.5 to 1") MDI moves at close to max velocity. 7. Adjust FF1 and FF2 until you minimize following error. 8. Then add a small amount of D and finally I. 9. Make small adjustments in all of the parameters until you minimize following error. This procedure is NOT carved in stone but only my way of doing things. YMMV. Good Luck. Dave > > ------------------------------------------------------------------------------ > This SF.Net email is sponsored by the Verizon Developer Community > Take advantage of Verizon's best-in-class app development support > A streamlined, 14 day to market process makes app distribution fast and easy > Join now and get one step closer to millions of Verizon customers > http://p.sf.net/sfu/verizon-dev2dev > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ This SF.Net email is sponsored by the Verizon Developer Community Take advantage of Verizon's best-in-class app development support A streamlined, 14 day to market process makes app distribution fast and easy Join now and get one step closer to millions of Verizon customers http://p.sf.net/sfu/verizon-dev2dev _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
