On Mon, 17 Oct 2011, Tom Easterday wrote:
Date: Mon, 17 Oct 2011 15:44:38 -0400
From: Tom Easterday <tom-...@bgp.nu>
Reply-To: "Enhanced Machine Controller (EMC)"
<emc-users@lists.sourceforge.net>
To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
Subject: Re: [Emc-users] config without encoders
On Oct 17, 2011, at 3:18 PM, Peter C. Wallace wrote:
Well its not optomized for extremely fast acceleration (300 IPS/S is FAST)
What do you consider less than extreme that we might try?
We like fast by the way. It gets to it's business faster that way :-)
I dont think you understood what I said above, I was not asking to you to go
back to encoders but rather to close the stepgen position loop with a PID
component that has as its inputs the commanded position from EMC (as before)
but substitute the encoder postion input with the stepgens feeback position
This has the advantage of a more complete control loop than provided by the
Stepgen position mode driver
Ah, yes. You mentioned this before and we tried it but kept getting immediate
f-error in emc. I think I had the config wrong. This is what I have now that
seems to work (sort of…):
http://bgp.nu/~tom/pub/hal-y-snip
And this is the graph I get doing the same procedure:
http://bgp.nu/~tom/pub/velocity-pid.png
The same amount of f-error, as before, just less spiky….
That simply looks untuned, have you varied FF1, added some P term etc etc
-Tom
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