On Tue, 26 Dec 2017 15:16:06 -0500 Gene Heskett <[email protected]> wrote:
> Greetings all; > > My original config for this had hal connections in all 4 axis like this: > loadrt [KINS]KINEMATICS > loadrt [EMCMOT]EMCMOT servo yadda + numdio=12 > later... > net z-pos-cmd joint.2.motor-pos-cmd > net z-pos-cmd pid_z.command > net z-vel-cmd joint.2.vel-cmd > net z-vel-cmd pid_z.command-deriv > > But somehow, this joint.2.vel-cmd has a huge high vel spike as it > approaches zero velocity, jumping to the same offset in the other > polarity, then decays back to where it would intersect a straight line > continuation of the original trace, at which point it then continues > upwards as if its a position command. ... It seems there are some offset in the middle. I think there a re something at zero speed to compensate for zero friction, baskslash or similar. ------------------------------------------------------------------------------ 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
