Andy, Yes, as TYPE = ANGULAR in the joint section.
As for P, yes that would seem to agree with what I am seeing. I made some headway by starting at 24000 counts per degree (actual counts per revolution). Tuned that in, then did the same at 1000, 500, 250 and 125. Still struggling at 66.6666. Can get it to run slowly, but goes unstable at speed and sometimes when nearing the end point. The other problem I encountered is that when I transferred the settings from the test configuration (All axes independant) to the production configuration (Y1 and Y2 joined), the tuning for the rotary axis changed. I copied the Axis and Joint sections, so assume there must be a difference somewhere else, but have not found it. One other problem I am seeing is very occasional following errors in Y1 (joint 1) and Y2 (joint 3). Note: the rotary axis disabled in these cases. This only happens while running a gcode file, I have not been able to reproduce it on individual MDI moves for example. I set ferror for those joints way up to 10", but monitoring joint.n.ferror with halmeter or halscope, I never see ferror exceeding about 0.01". Regards, Eric On August 26, 2017 12:17:11 PM EDT, Andy Pugh <[email protected]> wrote: > > >> On 25 Aug 2017, at 18:47, Eric H. Johnson <[email protected]> >wrote: >> >> Any idea what is going on here? > >Is A defined as rotary in the INI? > >Changing units will change P gain, it is volts per engineering unit of >position error. >------------------------------------------------------------------------------ >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
