On Sun, 17 Apr 2016, Gene Heskett wrote: > Date: Sun, 17 Apr 2016 20:02:17 -0400 > From: Gene Heskett <[email protected]> > Reply-To: "Enhanced Machine Controller (EMC)" > <[email protected]> > To: [email protected] > Subject: Re: [Emc-users] g33.1 fine tuning. > > On Sunday 17 April 2016 19:09:11 Peter C. Wallace wrote: > >> On Sun, 17 Apr 2016, Gene Heskett wrote: >>> Date: Sun, 17 Apr 2016 18:57:59 -0400 >>> From: Gene Heskett <[email protected]> >>> Reply-To: "Enhanced Machine Controller (EMC)" >>> <[email protected]> >>> To: "Enhanced Machine Controller (EMC)" >>> <[email protected]> Subject: [Emc-users] g33.1 fine >>> tuning. >>> >>> Greetings; >>> >>> I am being plagued with joint 2 following errors that are manifested >>> at about the time that Z is reset from its up overshoot, back to the >>> original starting position. >>> >>> The problem comes down to the speed limit imposed by that 1600 oz/in >>> 3.5 amp Z motor. >>> >>> It, with the setup I have at the moment, seems to be triggered at >>> the stop point of the upper reset to starting position after the Z >>> is unlocked and run back to the original starting point, compounded >>> by neither of the axis sliders to set limit speeds having any effect >>> at all on the Z speed commanded by motion at this run it back down >>> stage, and while I have it running ok with very little oscillation >>> visible on the hal scope, about 1 in 100 cycles there is a big blast >>> of ringing, and about once in 25 instances of that, the ringing will >>> cause an axis 2 following error. >>> >>> My thinking runs like this. Since it is locked to the spindle, >>> moving one thread of Z for every turn of the spindle, forming the >>> speed/dir command into the spindles PID to restrict its maximum >>> speed with the maxv of a limit3, and a similar value fed into maxa, >>> generates a nice "sine squared" waveform, effectively controlling >>> the rate of change when it is moving the Z at maximum turn around >>> speed. This seems to help, but its quite spindle speed sensitive, >>> as in if its working well at 500 revs, it all goes in the toilet at >>> 400 or at 600 spindle revs. >>> >>> The last thing I tried, and which appeared to stabilize it quite a >>> bit, was to "setp pid.z.Dgain -0.001." >>> >>> But is that the proper way? I'd druther not be restricted to a >>> spindle rpm that results in a 14.5 to 16 ipm Z speed, about 1/3rd of >>> what it can move. Said another way, the optimum spindle revs will >>> obviously go up and down with how fine a thread were boring. >>> >>> PID.z has the usual settings for a 4 kilohertz servo thread, >>> Pgain=4000, Igain=0.0, FF0=0.00, FF1 = 1.0, and FF2=0.00025, and now >>> Dgain = -0.001. Backlash is about 0.00075 atm. >>> >>> Ideas anybody? Time to try the atpid? >>> >>> Thanks. >>> >>> Cheers, Gene Heskett >>> -- >>> "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> >>> >>> -------------------------------------------------------------------- >>> ---------- Find and fix application performance issues faster with >>> Applications Manager Applications Manager provides deep performance >>> insights into multiple tiers of your business applications. It >>> resolves application problems quickly and reduces your MTTR. Get >>> your free trial! >>> https://ad.doubleclick.net/ddm/clk/302982198;130105516;z >>> _______________________________________________ >>> Emc-users mailing list >>> [email protected] >>> https://lists.sourceforge.net/lists/listinfo/emc-users >> >> Try doubling the stepgen maxaccel setting >> > It is double the ACCEL as it says in the ini file, and is at about 11.2 > right now. It can put a big noisy hammer on it, up to about 15 ipm. > I'll play some more at more than 2x the accel tommorrow Peter & thanks. >> >> Peter Wallace >> Mesa Electronics >> >> (\__/) >> (='.'=) This is Bunny. Copy and paste bunny into your >> (")_(") signature to help him gain world domination.
If you have backlash compensation you may need 2.5x >> >> >> ---------------------------------------------------------------------- >> -------- Find and fix application performance issues faster with >> Applications Manager Applications Manager provides deep performance >> insights into multiple tiers of your business applications. It >> resolves application problems quickly and reduces your MTTR. Get your >> free trial! >> https://ad.doubleclick.net/ddm/clk/302982198;130105516;z >> _______________________________________________ >> Emc-users mailing list >> [email protected] >> https://lists.sourceforge.net/lists/listinfo/emc-users > > > Cheers, Gene Heskett > -- > "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> > > ------------------------------------------------------------------------------ > Find and fix application performance issues faster with Applications Manager > Applications Manager provides deep performance insights into multiple tiers of > your business applications. It resolves application problems quickly and > reduces your MTTR. Get your free trial! > https://ad.doubleclick.net/ddm/clk/302982198;130105516;z > _______________________________________________ > Emc-users mailing list > [email protected] > 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. ------------------------------------------------------------------------------ Find and fix application performance issues faster with Applications Manager Applications Manager provides deep performance insights into multiple tiers of your business applications. It resolves application problems quickly and reduces your MTTR. Get your free trial! https://ad.doubleclick.net/ddm/clk/302982198;130105516;z _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
