2012/12/20 Viesturs Lācis <[email protected]> > 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. > > I don't understand why you limit MAX_OUTPUT to 0.5 or so. Usually MAX_OUTPUT 10 corresponds to max velocity of motor. Thus 0.5 is only 1/20 of max motor rpm! You limit it then PID gets saturated but the motor can't catch up the jog speed that you want. Just increase it
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