Greeting; But now I've violated one of my basic premises in that I did have a limit setup to keep it from going above a 98% duty cycle, but thats now broken for both speeds.
So now I take a year old printout, and compare it with a fresh one and see where I broke it. But all the hal code, with this exception, is working as I intended it to work. The spindle speed also seems many times stiffer than before, using an FF0 = 1.000 and an Igain much less than .01 so far. Thats a MAJOR improvement. And the gear shifting help by running the motor at 15-20 rpms when the knob is not seated in a gear, but is turned on means I can dial up a thousand revs, reach over and change the gears as the motor is slowed to a creep long before the gear is disengaged, and slides right into mesh in the other gear with the spindle coming back up to 1k rpms a few milliseconds after the knob is seated under that switch. The pid_s is disabled on purpose during the gear to gear transition, so theres no windup to unwind. Sweet! Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) Genes Web page <http://geneslinuxbox.net:6309/gene> ------------------------------------------------------------------------------ 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
