That would be FF0. Assuming the friction is directly proportional to speed then FF0 will increase the output directly proportional to the commanded speed. It does mean that it will over compensate a bit while accelerating up to speed but that is fine because you need more power to accelerate anyway.
Les On 03/02/2011 19:09, Igor Chudov wrote: > Kirk, I know that you all are awesome guys, a wealth of knowledge and this > is the most helpful mailing list that I have ever been on. I just tried to > steer the discussion in the direction that I think is the right one. ;-) > > Anyhow, how hard do you think is it for a C++ programmer to add a friction > compensation to EMC? Ergo, look at Andy's post from a while ago: > > http://www.mail-archive.com/emc-users@lists.sourceforge.net/msg22729.html > > It would appear that friction compensation (let me call it FFF for now) is > just one more term, something like > > > ... + FFF*<direction of rotation> + ... > > where<direction of rotation> is sign( C-M ) > > Am I making sense? ------------------------------------------------------------------------------ Special Offer-- Download ArcSight Logger for FREE (a $49 USD value)! Finally, a world-class log management solution at an even better price-free! Download using promo code Free_Logger_4_Dev2Dev. Offer expires February 28th, so secure your free ArcSight Logger TODAY! http://p.sf.net/sfu/arcsight-sfd2d _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
