22 квітня 2012 р. 19:04 Peter C. Wallace <p...@mesanet.com> написав:
> What are your tuning values? looks like some of the error could be tuned > out with FF1 > I noticed that too... after the screenshot was sent. Is the following correct? FF0 - velocity FF1 - acceleration FF2 - jerk That is FF0 can fight f-error at high speed, FF1 when accelerating/decelerating, FF2 helps eliminate transien peaks? How do I use torque PID? Does it make sense here? Encoder velocity is calculated each servo period, isn't it? Then I guess D noise is caused by 5um encoder, each 5um step results in certain velocity peak (5um/250us servo period=0.02m/s) which cause compensatory move and so on. Strange, but increasing servo period can decrease noise too? Anyways, next time I use 1um and it should decrease noise 5 times. I will continue tuning later today, now installing all motors. And the encoder signals still can't pass through 7i39. Can it be some levels incompatibility? ------------------------------------------------------------------------------ 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
