On Mon, 26 Jun 2017, tom-...@bgp.nu wrote:
Date: Mon, 26 Jun 2017 19:20:14 -0400
From: tom-...@bgp.nu
Reply-To: "Enhanced Machine Controller (EMC)"
<emc-users@lists.sourceforge.net>
To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
Subject: Re: [Emc-users] steppers with encoders in closed loop
And for those following along at home, I got the machine set up in velocity
mode and the pid tuned fairly well. The following error is less than .0002 and
the machine runs very nicely, and I can now Home to the index pulse on the
encoder (which is where this all began)! Yay.
Below are links to my .ini and .hal and plots of the f-error for each axis in
case it helps someone in the future.
Thanks,
-Tom
http://bgp.nu/~tom/pub/EMCO-CL.hal
http://bgp.nu/~tom/pub/EMCO-CL.ini
http://bgp.nu/~tom/pub/pid-X.png
http://bgp.nu/~tom/pub/pid-Y.png
http://bgp.nu/~tom/pub/pid-Z.png
You might improve the tuning a bit with a teeny amount of FF2
maybe .0005 as a start
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Mesa Electronics
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