On Sat, 28 Jan 2012, Viesturs L?cis wrote:
Date: Sat, 28 Jan 2012 18:42:03 +0200
From: "[UTF-8] Viesturs L?cis" <viesturs.la...@gmail.com>
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] Servo tuning - wtf?
2012/1/28 Peter C. Wallace <p...@mesanet.com>:
I tried 3 times switching back and forth - with PID disconected and
BLDC value set to 0,95 motor does not move.
Thats very strange, the motor should run at full speed with a fixed bldc drive
value. Can you post your hal file somewhere (like pastebin.com)
Done:
http://pastebin.com/0M1ASyhB
I tried one more, this time with joint1 (Y1 section in HAL file).
What I did:
Changed to trivkins
Added setp bldc.1.value 0.95
Commented out pid.1.out => bldc.1.value
Still the same - no movement.
If I reattach pid.1, I can jog the motor.
It would not provide any improvement, just prevent pathological behaviour if
the PID sets the PWM to 100% (which should be prevented)
So this far only reducing servo period did help. Unfortunately that is
coming with RTAI error warning messages. I ran latency test for a
while and got 12000 ns max jitter on servo thread.
Is this on a 5I23?
Yes, 5i23 with 2x 7i39s.
2 KHz should be easy (I am running a 8I20 test at 6 KHz currently with a 5I23)
Do you have a base thread? (you shouldn't need one)
No base thead.
The PC is:
Intel D525MW
2GB RAM
4GB CompactFlash in SATA adapter
I have been trying to get the tuning right.
So far I have managed to get one motor move smoothly up to 4000
mm/min. In HALScope it seems that f-error stays within 0,1 mm during
movement, which I find to be accetable, static f-error is less than
0,003 mm.
Here are PID parameters for that motor:
# PID tuning params
DEADBAND = 0.002
P = 380
I = 10
D = 1.9
FF0 = 0
FF1 = 0.1
FF2 = 0
BIAS = 0
I hav a problem with remaining 2 motors.
Firstly I thought that I might copy these settings, since drives and
motors are equal and then try to adjust for the different load.
That failed.
Then I started from scratch and I cannot find any settings to turn the
motors smoothly. I set everything to 0, P to 1 and it is already
oscillating. Then I set P and got "joint exceeded following error".
The f-error is set to 100 mm, so obviously P should be higher.
I have tried numerous values between 1 and 300, but nowehere I get
smooth motion.
What should I do?
Sounds like your commutation is wrong, no amount of tuning will help this
(wrong Hall order if you are using Halls wron paratmeyets if you are using q
mode etc etc)
2012. gada 28. janv??ris 18:14 noel <noel.ro...@comcast.net> rakst??ja:
All interested in Servo Tuning.
Have a look at:
http://support.motioneng.com/Downloads-Notes/Tuning/default.htm
Thank You! I will do some reading.
Viesturs
------------------------------------------------------------------------------
Try before you buy = See our experts in action!
The most comprehensive online learning library for Microsoft developers
is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3,
Metro Style Apps, more. Free future releases when you subscribe now!
http://p.sf.net/sfu/learndevnow-dev2
_______________________________________________
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users
Peter Wallace
Mesa Electronics
(\__/)
(='.'=) This is Bunny. Copy and paste bunny into your
(")_(") signature to help him gain world domination.
------------------------------------------------------------------------------
Try before you buy = See our experts in action!
The most comprehensive online learning library for Microsoft developers
is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3,
Metro Style Apps, more. Free future releases when you subscribe now!
http://p.sf.net/sfu/learndevnow-dev2
_______________________________________________
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users
