So the actual tuning software does not provide this parameter for high speed adjustment. It has both low speed and high speed settings.
However there is a parameter set which can be downloaded and saved and the high speed Ki is in there. I will alter the saved file and re-upload it to try different values of Ki. On Thu, May 1, 2014 at 7:18 PM, Peter C. Wallace <p...@mesanet.com> wrote: > On Thu, 1 May 2014, Curtis Dutton wrote: > > > Date: Thu, 1 May 2014 18:56:23 -0400 > > From: Curtis Dutton <curtd...@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] Leadshine ACS806 - Large f-error at higher > speeds - > > what is acceptable? > > > > Thanks to everybody for the information. If anything it helped me > > understand the nature of servos better as I've been sitting here tweaking > > the machine. > > > > I tried 2 experiments to see if I could get better results. > > > > #1. Give it 80Volts: I hooked the driver up to an 80v PS. The drive > clearly > > had more power, however the following error is exactly the same behavior. > > > > #2. Run the motor with no load: I disconnected the motor drive belt. > > Re-tuned the servo and then started running it in linux cnc. Net > result... > > exactly the same behavior. > > > > The higher the velocity, the more the error increases, and it appears to > be > > completely linear. > > Can you add any I term to the drives position control loop? > Enough I term should pull the following error to an average of 0 > on a long slew > > > > > > > > So it has something to do with some sort of lag in the servo driver. I'll > > be emailing leadshine with my fingers crossed hoping they can help. > > > > For what the servo is driving, seat of the pants says that the servo has > > more torque then the old stepper did, so the machine should behave better > > than it used to. > > > > Thanks! > > Curt > > > > > > On Thu, May 1, 2014 at 2:26 PM, Gene Heskett <ghesk...@wdtv.com> wrote: > > > >> On Thursday 01 May 2014 13:42:08 Curtis Dutton did opine: > >> > >>> Ok this makes sense. Thanks all for your explanations. I guess I just > >>> wasn't sure what was reasonable behavior and what wasnt. > >>> > >>> So if the motor is rated for 36v, and the drive is rated for 80 volts > >>> max. How much voltage can I get away with delivering to the drives > >>> without damaging equipment? > >>> > >>> > >>> Thanks, > >>> Curtis > >> > >> I, as an electronics type, would look at it from the motors rated > currant > >> viewpoint regardless of the family of motor. > >> > >> The motor more than likely has permanent magnet fields, and allowing > more > >> currant than about 1.25x the nameplate rating (based on my reading on > the > >> subject but I don't have an URL's to offer) gets you into a magnetic > >> territory where the field magnets can be damaged by reducing their > magnetic > >> strength, and its an instant and permanent effect. > >> > >> The same effect applies to steppers, usually at currants above 1.25x > >> nameplate. > >> > >> Applying an 80 volt supply to a 32 volt rated motor seems like it would > be, > >> if not currant limited in the driver, playing with fire. I would have > to > >> assume they said that assuming a condition where it could spin freely, > >> letting its counter EMF control the current and therefore the resultant > >> magnetic field. > >> > >> This isn't normally a concern with steppers because the 10 to 30x over > >> voltage is just normal standard operating voltage for them. The drivers > >> chopper limits on the currant are many times more important to the long > >> term health of the motors. I see no reason not to apply much the same > >> thinking to PM field servo motors. Any difference is in where the > magnets > >> are, the steppers magnet is the rotor, where a brushed servo has the > magnet > >> in its stator. But its still the strongest magnet we know how to build > in > >> production quantities. > >> > >> Now, in servo's I'll have to plead the big dummy because in brushless, > hall > >> effect commutated motors (BLDC?), it seem like a 3rd phase of drive to > what > >> is basically a 3 phase wound stepper motor frame assembly, meaning the > >> rotor is the PM, would this not also apply? > >> > >> Or do they have something even more complex for the "BLDC" format? I am > >> not using them, so I've not spent a lot of time researching how they are > >> built. > >> > >> My understanding is quite incomplete for those, and is not clarified a > bit > >> by having so many available mappings in the BLDC driver. I suspect the > >> reason for that boils down to a profound lack of a standard way of > marking > >> the motors leads as to phase & polarity, making the builder try every > >> combination until he hits the right one that just happens to be correct > for > >> the wire hookup sequence he used? > >> > >> Is there a URL to read that would help me understand that Jon? > >> > >>> On Thu, May 1, 2014 at 10:44 AM, Jon Elson <el...@pico-systems.com> > >> wrote: > >>>> On 05/01/2014 06:22 AM, andy pugh wrote: > >>>>> On 30 April 2014 19:37, Curtis Dutton <curtd...@gmail.com> wrote: > >>>>>> The motor is a 130W motor > >>>>>> 1.5mm at around 12000mm/min. > >>>>> > >>>>> That seems like a very small motor, and a very fast travel. > >>>>> > >>>>> Is it possible that the motor is simply running out of steam? > >>>> > >>>> Generally when the drive runs out of available voltage > >>>> the following error very suddenly grows without bound. > >>>> So, you can be at 500mm/min with error of .01mm, > >>>> and then at 550mm/min the error rises continuously > >>>> because full voltage applied to the motor is only > >>>> giving you 520mm/min, to give an example. > >>>> > >>>> So, having the following error increase only a modest bit > >>>> at higher speeds may indicate the drive just has a > >>>> constant time lag in the internal loop. Or, it may > >>>> be a torque limit, where the 130 W motor is nearly > >>>> maxed out on current driving the axis at 12 m/min. > >>>> Those conditions might cause a bounded error > >>>> that increases roughly proportionally to velocity. > >>>> > >>>> Jon > >>>> > >>>> > >>>> ---------------------------------------------------------------------- > >>>> -------- "Accelerate Dev Cycles with Automated Cross-Browser Testing - > >>>> For FREE Instantly run your Selenium tests across 300+ browser/OS > >>>> combos. Get unparalleled scalability from the best Selenium testing > >>>> platform available. Simple to use. Nothing to install. Get started > >>>> now for free." http://p.sf.net/sfu/SauceLabs > >>>> _______________________________________________ > >>>> Emc-users mailing list > >>>> Emc-users@lists.sourceforge.net > >>>> https://lists.sourceforge.net/lists/listinfo/emc-users > >>> > >>> > ------------------------------------------------------------------------ > >>> ------ "Accelerate Dev Cycles with Automated Cross-Browser Testing - > For > >>> FREE Instantly run your Selenium tests across 300+ browser/OS combos. > >>> Get unparalleled scalability from the best Selenium testing platform > >>> available. Simple to use. Nothing to install. Get started now for > >>> free." > >>> http://p.sf.net/sfu/SauceLabs > >>> _______________________________________________ > >>> Emc-users mailing list > >>> Emc-users@lists.sourceforge.net > >>> https://lists.sourceforge.net/lists/listinfo/emc-users > >> > >> > >> Cheers, Gene > >> -- > >> "There are four boxes to be used in defense of liberty: > >> soap, ballot, jury, and ammo. Please use in that order." > >> -Ed Howdershelt (Author) > >> Genes Web page <http://geneslinuxbox.net:6309/gene> > >> US V Castleman, SCOTUS, Mar 2014 is grounds for Impeaching SCOTUS > >> > >> > >> > ------------------------------------------------------------------------------ > >> "Accelerate Dev Cycles with Automated Cross-Browser Testing - For FREE > >> Instantly run your Selenium tests across 300+ browser/OS combos. Get > >> unparalleled scalability from the best Selenium testing platform > available. > >> Simple to use. Nothing to install. Get started now for free." > >> http://p.sf.net/sfu/SauceLabs > >> _______________________________________________ > >> Emc-users mailing list > >> Emc-users@lists.sourceforge.net > >> https://lists.sourceforge.net/lists/listinfo/emc-users > >> > > > ------------------------------------------------------------------------------ > > "Accelerate Dev Cycles with Automated Cross-Browser Testing - For FREE > > Instantly run your Selenium tests across 300+ browser/OS combos. Get > > unparalleled scalability from the best Selenium testing platform > available. > > Simple to use. Nothing to install. Get started now for free." > > http://p.sf.net/sfu/SauceLabs > > _______________________________________________ > > 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. > > > > ------------------------------------------------------------------------------ > "Accelerate Dev Cycles with Automated Cross-Browser Testing - For FREE > Instantly run your Selenium tests across 300+ browser/OS combos. Get > unparalleled scalability from the best Selenium testing platform available. > Simple to use. Nothing to install. Get started now for free." > http://p.sf.net/sfu/SauceLabs > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > ------------------------------------------------------------------------------ "Accelerate Dev Cycles with Automated Cross-Browser Testing - For FREE Instantly run your Selenium tests across 300+ browser/OS combos. Get unparalleled scalability from the best Selenium testing platform available. Simple to use. Nothing to install. Get started now for free." http://p.sf.net/sfu/SauceLabs _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
