I'm in the shop working on this right now and am wondering how to verify the PID loop is providing feedback to each axis. I've been using pncconf to generate the configuration, and assumed since it allows you to set PID that it would configure it to feedback automatically. However, since I've been using pncconf as a crutch, I'm not sure off-hand how to config PID feedback is working. I see P, I, D values in the ini file for each axis, but I am still seeing small amounts of servo instability.
I see the instability even with the servo signal grounded. I have followed this page: http://wiki.linuxcnc.org/emcinfo.pl?Tuning_EMC2/HAL_PID_Loops and verified that the output voltages are correct, but get stumped at the: Set up PID loop add the loop and interconnect step. Thanks in advance for any advice, Scott On Wed, Aug 17, 2011 at 7:55 AM, John Thornton <bjt...@gmail.com> wrote: > The 1100M came both ways with glass scales (earlier model) then with > encoder feedback. Mine is the encoder variety of 1100M. > > John > > On 8/17/2011 7:28 AM, andy pugh wrote: > > On 17 August 2011 04:15, Scott Hasse<scott.ha...@gmail.com> 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. > > Are you retaining the velocity feedback to the amps, so that they run > > an internal velocity loop, and then you use velocity commands to close > > your position loop based on the encoders? > > > > The previous Anilam system I chatted to someone about had velocity > > tachs on the motors and linear scales, no rotary encoders. > > > > So, in Anilam control is the feedback from linear scales, and encoders > > in EMC2 mode? > > > > > ------------------------------------------------------------------------------ > 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 > ------------------------------------------------------------------------------ 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
