Scott Hasse wrote: > > To the point, though, I am having one not-so-minor problem. When I enable > the servos, they are not completely stable, and I'll get following error > almost immediately after enabling them. They don't run away, but the > encoders show them moving ever so slightly, and physically the motors > actually are moving. > Is this between pressing F1 and F2? In that state, when the system is configured a certain way, you can have the F1 enable the servo amps, but not start the positioning loop until F2 is pressed. There will always be some tiny offsets in the DAC outputs or the servo amp zero velocity. So, the motors will creep slowly. This is not a malfunction, and you can never zero out the drift completely. Since a following error will go to the out of estop but machine-off state, you really don't want to leave the machine in this condition. So, you want to set things up so the servo amps are only enabled when in the machine-on state. You would connect a HAL signal such as
axis.0.amp-enable-out to the servo amp enable output. If this problem exists when in the machine-on state, then the servo loop is not responding to position errors, and you need to work on the PID tuning. It may be that the output of the PID is not connected to the DAC inputs of the Mesa driver. Jon ------------------------------------------------------------------------------ Get a FREE DOWNLOAD! and learn more about uberSVN rich system, user administration capabilities and model configuration. Take the hassle out of deploying and managing Subversion and the tools developers use with it. http://p.sf.net/sfu/wandisco-d2d-2 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
