On Fri, 21 Dec 2012, Viesturs L?cis wrote: > Date: Fri, 21 Dec 2012 17:29:42 +0200 > From: "[UTF-8] Viesturs L?cis" <viesturs.la...@gmail.com> > Reply-To: "Enhanced Machine Controller (EMC)" > <emc-users@lists.sourceforge.net> > To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net> > Subject: Re: [Emc-users] Pid saturated, was: Servo error > > 2012/12/21 Peter C. Wallace <p...@mesanet.com>: >> >> A couple of questions to see whwre we are here: >> >> What are the notors continuous and peak current specifications? > > Rated current = 8.7 A > Peak current = 25 A > >> What is the motor winding resistance? > > Resistance = 0.26 +/-10% Ohm > Inductance = 0.22 +/-10% mH
OK thats roughly 125 ma/uSec at 28VDC power so ~3A ripple at the default 20 KHz PWM so I would set the PWM rate to say 40 KHz to cut this in half I would also make sure that you have the pwmgen deadtime set to 0 and the PID comps max output set to .95 (assuming the 3pwmgen scale is the default +-1) > >> What is the motors torque constant? (NM/A) > > Not directly specified. > Rated torque = 0.5 Nm > Peak torque = 1.75 Nm > 0.5/8.7 = 0.05747 > 1.75/25 = 0.07 > > So it is around 0.06 0.07 Nm/A > >> What is your power supply voltage? > > Supply voltage is 28.4 VDC > Motors are rated for 24 VDC > >> Is this a 7I39H or 7I39L? > > 7I39LV > >> Is it jumpered for maximum current? > > All jumpers on all 7I39s are on the left, which is max current limit. > > -- > 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 > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your (")_(") signature to help him gain world domination. ------------------------------------------------------------------------------ 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 Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
