Igor Chudov wrote: > But I have a problem that I just could not solve: > > after a movement, the Y axis cannot calm down, the Y axis servo just > keeps buzzing and vibrating somewhat. Y axis is the heaviest axis on > this knee mill. > If I turn down P or I I start getting following errors when homing. I > am not sure just what can I do. > > Again, the servo drives are in velocity modes and they have their own > loop to control velocity of servos, based on tachometer input. > > Maybe I set acceleration too high? Should I perhaps take acceleration > down a notch an reduce P? or I? > No, acceleration has nothing to do with loop stability, except that it excites any resonances in the system. If you had the old EMC setup where you could hit F2 and stop the positioning loop without disabling the drives, you could tell whether it is the EMC2 positioning loop or the servo amp's velocity loop that is oscillating. But, I would probably guess it is the velocity loop. What you want to do is either increase damping on the amplifier or reduce BOTH the command gain and the tach feedback gain.
If the oscillation is in the velocity loop, nothing you do in EMC will fix it. Jon ------------------------------------------------------------------------------ Start uncovering the many advantages of virtual appliances and start using them to simplify application deployment and accelerate your shift to cloud computing http://p.sf.net/sfu/novell-sfdev2dev _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
