On 3 February 2011 19:09, Igor Chudov <ichu...@gmail.com> wrote: > It would appear that friction compensation (let me call it FFF for now) is > just one more term,
As somebody else said, inverse-deadband ought to do what you want. (I have seen a comp somewhere to do that). Assuming that the input to the PID is position, then I have a feeling you could get the same effect by using a very large gain on FF1 with a limit (maxcmdD) set to ever so slightly less than the current required to move the table. -- atp "Torque wrenches are for the obedience of fools and the guidance of wise men" ------------------------------------------------------------------------------ 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
