Ah... so in this case, the amplifier itself would do the inner velocity loop. The outer position loop is all that is expected from LinunxCNC then.
On 03/01/2017 11:24 AM, Nicklas Karlsson wrote: > On Wed, 1 Mar 2017 07:46:24 -0600 > dragon <tfishw...@gmail.com> wrote: > >> I have a project coming up soon that involves a retrofit of a Cel-Con >> HMC. The owner has a bunch of AMC BE25A20 drives to use on it. The servo >> motors are Fanuc red caps and we have some of Pico Systems' converters >> that give us the hall and encoder signals from the motors. >> >> I have been doing a bunch of reading trying to figure out if it is >> better to run the servo amplifiers in velocity mode or torque mode. I >> have found many references that AMC recommends always using torque mode >> for CNC applications, and indeed that is how Galil uses their >> amplifiers. I have also read however that control is more precise and >> 'definitive' when the amplifier can run in velocity mode with the loop >> closed by connecting tach or encoder feedback to the amp. >> >> What is the consensus on this from LinuxCNC users and developers? What >> have been your experiences? > > It is harder to tune the PID regulator with torque as an input than with > velocity as an input for position control. Usually there is a inner velocity > loop with an outer position loop. > > ------------------------------------------------------------------------------ > Check out the vibrant tech community on one of the world's most > engaging tech sites, SlashDot.org! http://sdm.link/slashdot > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users >
signature.asc
Description: OpenPGP digital signature
------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, SlashDot.org! http://sdm.link/slashdot
_______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
