On Mon, 21 Dec 2009, Dustin Monroe wrote:
> Date: Mon, 21 Dec 2009 17:37:33 -0700
> From: Dustin Monroe <monroe.dus...@gmail.com>
> Reply-To: "Enhanced Machine Controller (EMC)"
> <emc-users@lists.sourceforge.net>
> To: emc-users@lists.sourceforge.net
> Subject: Re: [Emc-users] Multiple Servo tuning problems.
>
> I tuned the drives to the best of my ability, from what i understood
> from the manual. I set all the pots to zero and put the amp in
> tachometer mode, adjusted the offset pot until the motor stopped
> rotating ( except the mentioned creep) and then adjusted the loop gain
> until there was oscillation and backed it off 1-2 turns. This is as far
> as I have been able to progress, none of the PID settings in emc seem
> to make any difference in the following error. I attempted Daves
> suggestions without any luck.
If the motors continously creep, sounds like either there is a noise
problem where the encoder inputs are counting without encoder signals, or more
likely the feedback loop is not closed properly.
To reject noise, most analog inputs on servo amplifiers are
differential, consisting of a + and - input pair. When connected to the 7I33,
the +AMP inputs should connect to the 7I33s AOUT pin and the -AMP inputs
should connect to the 7I33s GND pin adjacent to AOUT.
If connected AMP+ to 7I33 AOUT, AMP- open or grounded at the
amplifier, the motors would seem to respond but would drift and follow badly.
>
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Peter Wallace
Mesa Electronics
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