On Mon, 2017-06-26 at 16:27 -0400, tom-...@bgp.nu wrote: > Thanks Todd, your suggestion lead me to the issue. Turns out PNConfig sets > the P term to 1000 (and Deadband to 0.0) at which point I got a terrible nose > from the motors. Setting the P term down to 10, and setting Deadband to > 0.0005 has it running quite smoothly. Now to run Halscope and get the tuning > right… > > -Tom
I have the P parameter set to 1000 and the motors are quiet. Previously pncconf had set P to 10000 and the motors made noise like hell and vibrated. > > > > On Jun 26, 2017, at 10:28 AM, Todd Zuercher <zuerc...@embarqmail.com> wrote: > > > > Maybe you've already tried this, but I would think the easiest way is to > > use PNCcofig to create an ordinary stepper configuration. It will set up a > > velocity mode config with the hardware stepgen sending the feedback to > > close the pid loop. Get that working. Then modify that config by adding > > the encoder reading, and replace the stepgen's feed back with the encoder's > > feedback to the pid loop and to the axis.N.pos-fb (or joint.N.pos-fb in > > Master) Then adjust the P tuning till it "works". I have such a setup on > > a machine using step/dir servos, and using it with step motors would be > > exactly the same (except for the PID tuning.) > > > > The trick is to only try making one major modification at a time. So first > > get a velocity mode stepgen config working (without encoder feedback), Then > > add encoder feedback (do it one axis at a time.) First get the DRO's > > working with the encoder feedback. Then connect the encoders to the PID > > loops. > > > > ----- Original Message ----- > > From: "Tom Easterday" <tom-...@bgp.nu> > > To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net> > > Sent: Monday, June 26, 2017 8:37:47 AM > > Subject: Re: [Emc-users] steppers with encoders in closed loop > > > > Exactly, and any help in getting my stall detection and position tracking > > working using velocity mode would be greatly appreciated 😀 > > > > -Tom > > > >> On Jun 26, 2017, at 6:52 AM, Rene Hopf <reneh...@mac.com> wrote: > >> > >> there is no benefit in using them in linuxcnc, apart from stall detection > >> or position tracking. > >> > > > > > > ------------------------------------------------------------------------------ > > 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 > > > > ------------------------------------------------------------------------------ > > 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 > > > ------------------------------------------------------------------------------ > 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 ------------------------------------------------------------------------------ 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
