2012/12/20 Viesturs Lācis <[email protected]>: > > BTW in meantime I started to torture another joint - I am now jogging > it back and forth and trying to work out pid parameters and one > strange thing is that sometimes in direction to negative end of joint > (and I have observed that only in this direction) joint continues to > travel at previous speed after the button is released and then in a > second or two it would suddenly stop the motion and start to respond > to any new jog commands.
I discovered that there is a pid.n.saturated pin that is "true" at the moment when I thought that motor is running away. For that joint I increased max output from 0.5 to 0.67 and at least jogging up to 5m/min is fine. So I managed to get PID parameters that keep following error within 0.02 mm which I find acceptable for plasma table. Since that is a gantry machine, I hoped to copy these parameters and use them as a starting point for both gantry motors. The thing is that they are not yet installed in place and, when I try to jog them, pid output immediately gets saturated, so I cannot check for their responsiveness so I am afraid to put them in just in case they will move in opposite directions with saturated pid. Can anyone suggest, how to tune servos that move gantry bridge? -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ LogMeIn Rescue: Anywhere, Anytime Remote support for IT. Free Trial Remotely access PCs and mobile devices and provide instant support Improve your efficiency, and focus on delivering more value-add services Discover what IT Professionals Know. Rescue delivers http://p.sf.net/sfu/logmein_12329d2d _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
