We are investigating using my favorite cnc controller for an application which will require as much stiffness as we can arrange; websearching suggests that torque mode rather than velocity mode is preferrred in such applications. We are using a Pico PPMC interface set to mediate between the computer and a Parker Aries amp/motor combination (+/- 10v control input, 2000 line encoder, vendor rep loaded any requisite motor parameters into the amp). We finally have the system so it doesn't immediately fault on a following error, but only in velocity mode; we've been totally unable to generate a set of PID parameters that are viable when the amp is set to torque mode. Ergo, it's guru time-
1 - is there some inherent incompatibility between Linux CNC and torque mode servos? 2- is there some deeply buried config parameter that needs to be changed? 3- can somebody point us to a strategy specifically oriented to tuning torque mode servos? 4- any other ideas? as always, thanks in advance - this community never stops astounding me with its knowledge and its willingness to share lloyd ------------------------------------------------------------------------------ For Developers, A Lot Can Happen In A Second. Boundary is the first to Know...and Tell You. Monitor Your Applications in Ultra-Fine Resolution. Try it FREE! http://p.sf.net/sfu/Boundary-d2dvs2 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
