Gentlemen, The servo amps on the Enshu have different accel/decel shapes. The PID.output trace has a sharp corner to it. The trace raises a little and then turns almost straight up. The decel trace is MUCH more rounded. Does this sound like an amplifier problem? I am thinking it would be possible to convert this Fanuc amp to a simple amp by fooling the tach feedback. This servo amp accepts the encoder feedback on two terminals and converts these two signals into a tach voltage for comparison to the velocity signal. Would it be possible to do one of two things to convert it to a simple amp with no tuning to the motor. I think the best way would be to find where the chip ouputs the matching tach voltage and connect the velocity signal voltage at that point. The amp would think the motor is following the signal perfectly and require no output adjustment. or I could use an ADC to accept the velocity signal and generate an encoder pulse to match what would be seen as feedback from the motor. Either way this feedback would be perfectly matched to the input. EMC2's tuning would then have complete and total control of the servo motor (axis motion). Am I crazy or all wet? thanks Stuart
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