FF1 and FF2 behave a little queerly on a single loop torque mode setup. My setup was noisy and very difficult to tune with the single loop. The dual loop was much easier to tune and the final result is quieter and stiffer than I could get with one loop. Part of my problems may have been that the machine was a stepper motor to servo conversion oh a larger wood router(high speeds and low gear ratios), and final drive ratios probably should have been double what they are for these servos. (They are 5 revs/inch or less depending on the axis.)
----- Original Message ----- From: "andy pugh" <bodge...@gmail.com> To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net> Sent: Thursday, April 7, 2016 4:54:12 AM Subject: Re: [Emc-users] Servos and Drives PID Values On 7 April 2016 at 06:53, Nicklas Karlsson <nicklas.karlsso...@gmail.com> wrote: > An inner velocity loop and outer position loop as above I think is the method. It is possible to get decent results with torque-mode drives and only one loop. My mill is running with 8i20 drives and resolver feedback. The servo thread is running at 1kHz and it all seems to work perfectly OK. I need to check my PID settings, I am not actually sure that I have any FF1 or FF2 even. (I set it up a few years ago and have just been using it since) -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
