On 12/11/2020 06:35 PM, Gene Heskett wrote:
Greetings all;
In playing some more with this servo, I am in the +-10% of right for the
SCALE, getting that somewhere near right also lowered the Pgain from
300000 to around 2000, but demanded an FF1 of about 17.6. But after
homing, which in this case is home at present location. I've found I
have an offset, quite small at -0.004x degrees, but will not zero with a
touch off to zero.
That sounds like you are displaying ACTUAL position, not
COMMANDED position.
.004 degrees is pretty small, so maybe that is the range
where you have an effective deadband, and the PID won't move
it to the exact null position. You could try putting in
some I and see if it closes the gap.
Jon
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