> > Did you read control theory? Use the automatic tuning functionality within > linuxcnc? > I can't seem to find this ?
Here http://linuxcnc.org/docs/html/man/man9/at_pid.9.html and you have to use the setp in the "Show hal configuration" window at the "Test hal command" label. It is probably a good idea to set tune-type to 1. pid.N.tune-type When set to 0, Pgain/Igain/Dgain are caclulated. When set to 1, Pgain/Igain/FF1 are calculated. pid.N.tune-cycles u32 rw Determines the number of cycles to run to characterize the process. tune-cycles actually sets the number of half cycles. More cycles results in a more accurate characterization as the average of all cycles is used. pid.N.tune-effort float rwDetermines the effor used in setting up the limit cycle in the process. tune-effort should be set to a positive value less than maxoutput. Start with something small and work up to a value that results in a good portion of the maximum motor current being used. The smaller the value, the smaller the amplitude of the limit cycle. Nicklas Karlsson ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
