> 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?
Here are some tuning-graphs I did in 2008. These are for brush DC-servos with Pico PWM drives and a Mesa 5i20 card with 4 kHz (IIRC) servo-thread. If I understand correctly these PWM-drives are "voltage-mode" which is neither speed nor torque, but the graphs might be instructive anyway... http://www.anderswallin.net/2008/04/pid-tunig/ http://www.anderswallin.net/2008/04/x-axis-test/ Someone should make a PID-tuning utility that makes it super-easy to capture these HALScope screenshots together with the PID-parameters used. I think we might see more logs of these tuning sessions on the interwebs then... Anders ------------------------------------------------------------------------------ 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
