On Mon, 2011-09-26 at 15:50 -0700, Bruce Klawiter wrote: > I do not have a clue how to tune my servos. I have been reading everything I > can find on the subject but its like it is written in some alien language > that I'll never understand. > > What I have been doing so far is following this guide > http://www.newport.com/servicesupport/Tutorials/default.aspx?id=152. > > I can't get it any better than this, HELP I don't know what to do next > > Halscope images: https://sites.google.com/site/bmklawt/home/pid-tuning > Config files: https://sites.google.com/site/bmklawt/home/emc2 > > Your help is greatly appreciated, > Bruce
There are others on this list much more qualified to comment, but there might be a hint that your encoder has some noise. Here is one of my HALscopes: http://www.wallacecompany.com/cnc_lathe/HNC/emc2/pid_x-1b.png It is way old and I don't recall if I had a better trace later. I had noise affecting my spindle encoder. A filter on my spindle VFD fixed it. http://www.wallacecompany.com/cnc_lathe/HNC/00024-1a.jpg http://www.wallacecompany.com/cnc_lathe/HNC/ Basically, I started with 0 for all of the parameters, then turned P up until the axis started oscillating. I added a little D to suppress the oscillation. Finally added a little FF1. You might try turning P down a bit and zero out the others to see what the encoder signal does. If it doesn't change much, I would look at trying to find what might be causing the noise. Or, I could be totally wrong. -- Kirk Wallace http://www.wallacecompany.com/machine_shop/ http://www.wallacecompany.com/E45/index.html California, USA ------------------------------------------------------------------------------ All the data continuously generated in your IT infrastructure contains a definitive record of customers, application performance, security threats, fraudulent activity and more. Splunk takes this data and makes sense of it. Business sense. IT sense. Common sense. http://p.sf.net/sfu/splunk-d2dcopy1 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
