Viesturs Lācis wrote: > Hello! > > I have spent hours in plural trying to figure out, what is wrong and this > is driving me nuts. > Here is a video with that motor in action (I was jogging it back and forth): > http://www.youtube.com/watch?v=RA4mdp1rYfs > > That noise starts at 0:14. > 1) it is there only when moving to the right; > 2) it is the only motor doing such a noise; it is a gantry machine, motor > on the other side and the motor that sits on the gantry are fine; > 3) PID tuning of these motors was done 2 years ago, problem started few > weeks ago (according to client); I retuned PID today, difference in > parameter values can be expressed in orders of magnitude (P was 400, now it > is 15 etc.) > 4) I watched encoder velocity pin in HalScope, it is fluctuating, so that > comes form motor; > Are these impossible accelerations or what is consistent with the motor's motion? Impossible velocity spikes from an encoder clearly indicate either a defective encoder, noise or defect in the encoder cable, or a defect in the encoder counter board. It would be expected the home position would drift after making moves that cause the noise. Noise or loss of position when going only one direction is typical of dirt on or damage to the encoder disc or analyzer grating.
Jon ------------------------------------------------------------------------------ This SF.net email is sponsored by Windows: Build for Windows Store. http://p.sf.net/sfu/windows-dev2dev _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
