After playing with a lot of the tuning parameters, I changed the engineering unit from degrees to revolutions. There are 24,000 counts per revolution or 66.66666 per degree.
If I use 24000 as the counts per revolution, then the problem goes away. However without teleop (test configuration) using 66.66666 counts per degree works just fine. The other thing I found was that I have to drop P way down to work at degrees, when I thought the PIDs should remain the same regardless of resolution. For 24000 counts per revolution, I found P of about 7.5 to work best, while at 66.6666 counts per degree, I had to drop P to about 0.030. This holds true for both the test and gantry configurations. Any idea what is going on here? Thanks, Eric On August 25, 2017 11:25:38 AM EDT, "Eric H. Johnson" <[email protected]> wrote: >All, > >More info. The problem only seems to affect the A axis. I can do MDI >moves to both X and Y without issue. > >I did notice that when I do an MDI move of A, the Y axis moves ever so >slightly when the following error occurs, then lurches upon doing a >machine on. A simple amplifier off will not cause Y to move. > >I do not see how tuning parameters for A are affecting Y. > >Thanks, >Eric > > >On August 25, 2017 9:13:54 AM EDT, "Eric H. Johnson" ><[email protected]> wrote: >>All, >> >>Again with XYAY configuration under Lcnc 2.8.0-pre1. I have two >>configurations, a checkout configuration that does not team Y1 and Y2, >>and the production configuration which does. >> >>In the checkout configuration, an MDI move such as: >>G1 a360 f5000 >> >>Works fine. >> >>Transferring all the tuning and related parameters to the production >>configuration results in a following error on joint 2 (A). This occurs >>at the end of the move regardless of distance. Further, following it >>with a "machine on" results in a slight lurch on Y. Cannot tell at >this >>point if it is one or both of the Y axes. >> >>The A axis does not home so all of the applicable home related values >>are set to zero. The "home all" works and ignores A. >> >>Any idea what is causing the following errors in the production >config? >> >>Thanks, >>Eric >> >>-- >>Sent from my Android device with K-9 Mail. Please excuse my brevity. >>------------------------------------------------------------------------------ >>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 >>[email protected] >>https://lists.sourceforge.net/lists/listinfo/emc-users > >-- >Sent from my Android device with K-9 Mail. Please excuse my brevity. >------------------------------------------------------------------------------ >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 >[email protected] >https://lists.sourceforge.net/lists/listinfo/emc-users -- Sent from my Android device with K-9 Mail. Please excuse my brevity. ------------------------------------------------------------------------------ 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 [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
