On 02/26/2014 10:27 AM, Daniel Duesentrieb wrote: > Folks > > I am happy, then with the help of Jon I got my Fanuc 10s servomotor > running with his pico-systems universal pwm board, fanuc encoder und > servo amp. Encoder runs and the motor is turning - somewhat... > > I was playing around with the parameters but never got a nice motor > movement. "following 0 error" or - when I change FERROR and MIN_FERROR - > the motor get in a loop and starts vibrating. > > Does anybody has the correct ini-settings for this motors? > > Here's the settings I use on my Fanuc test station: [AXIS_0]
TYPE = LINEAR UNITS = 0.03937007874016 HOME = 0.000 MAX_VELOCITY = 1.20 MAX_ACCELERATION = 5.0 PID_MAX_VEL = 5 BACKLASH = 0.000 CYCLE_TIME = 0.001000 INPUT_SCALE = -160000 OUTPUT_SCALE = 1.000 PWM_OUTPUT_SCALE = -1 MIN_LIMIT = -10.0 MAX_LIMIT = 10.0 FERROR = 1.102 MIN_FERROR = 1.105 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 2e-05 P = 40 I = 0.3 D = 0.25 BIAS = 0 FF0 = 0 FF1 = 0.08 FF2 = 0.0011 This is used with the encoder velocity estimation enabled, but should be close even without that feature. Jon ------------------------------------------------------------------------------ Flow-based real-time traffic analytics software. Cisco certified tool. Monitor traffic, SLAs, QoS, Medianet, WAAS etc. with NetFlow Analyzer Customize your own dashboards, set traffic alerts and generate reports. Network behavioral analysis & security monitoring. All-in-one tool. http://pubads.g.doubleclick.net/gampad/clk?id=126839071&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
