On 12/08/2020 10:53 PM, Gene Heskett wrote:
What does that 22mv mean in folllowing error since I have
that set for about half an inch at the moment?
It is not milli VOLTS, it is milli-units. Generally inches
or mm, depending on your preference.
so 22m means 0.022" assuming that's what you use. Or, if
this is a rotary, then it could be
0.022 degrees.
My method of tuning is to first increase MIN_FERROR to
prevent following error trips, then reduce
P to a small value, just enough that error doesn't creep
up. Adjust FF1 until error is small at moderate speed, less
than 50 encoder counts, perhaps. Then, assuming a real axis
with encoder feedback, add a LITTLE FF2 to reduce the error
spikes on accel/decel. (Don't bother on stepper-simulated
axes.)
Then, increase P to drive the error down to a small
fraction, add a little D to improve stability.
It takes practice and experience to know what to adjust
based on the Halscope trace.
Jon
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