On Mon, 30 May 2016, [email protected] wrote:
> Date: Mon, 30 May 2016 7:07:14 +0000
> From: [email protected]
> Reply-To: "Enhanced Machine Controller (EMC)"
> <[email protected]>
> To: "Enhanced Machine Controller (EMC)" <[email protected]>
> Subject: [Emc-users] PID tuning 7i92 stepper
>
> So I never did get to tuning the PID for the 7i92, now that other things are
> working sensibly, this is next on my list.
>
> So I tried to follow: http://gnipsel.com/linuxcnc/tuning/servo.html
>
> Plotted .ferror, .joint-vel-cmd, .motor-pos-fb
>
> I see the .joint-vel-cmd, but .motor-pos-fb never moves from 0, even if the
> scale is tiny. Axis move just as intended. .ferror is just noise under
> 10u. Looks like quanitization noise.
>
> Am I missing something? Is there a different procedure for the unique 7i92
> PID loops?
>
> 1KHz servo thread, and:
>
> # PID tuning params
> DEADBAND = 0
> P = 1000
> I = 0
> D = 0
> FF0 = 0
> FF1 = 1
> FF2 =0.00013
> BIAS = 0
> MAX_OUTPUT =0
> MAX_ERROR =0.0005
>
> Danny
>
axis.N.motor.pos-fb has to be changing with a move or you would get a
following error
Note that HalScope has a bug that causes it to not look at new signals until
you stop and start the DAQ ( this means you must set the run mode to stop and
back to the desired display mode after adding a new pin,signal, or parameter
trace ) Maybe this is whats happening
There's really no tuning involved, those values are fine
P= 1/servo period in seconds
FF1=1
FF2=seconds between position read and velocity write
(FF2 is not very important and could just be set to 0 for the majority of
machines )
Peter Wallace
Mesa Electronics
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