Greetings all; I have it working fairly well but had to restrict the cruising speed and accells to get the following error under control, not enough headroom in the supply or controller to do any better. Setting those down to 25 and 120 pretty well got rid of the big swings at start and stop, now staying within 5 millivolts on the halscope. It seem it needs the headroom of cruising at around 60% pwm duty to get up to speed and stopped again without lots of ringing at the start/stop points, and its stopping just prior to perfect balance from either direction, like .002 degrees or less despite a pretty aggressive Igain which some have used to get it to stop in the deadband. At a MAXVEL of 30 degrees/sec there is an occasional hint of windup, and MAX_ACCEL above 120 makes a big bump getting started and rings like a bell stopping, 25 and 120 make it behave really well. To improve on that, I'd have to use one of Jons pwm-servos, powered by the spindle psu at 125 volts. I'd like to see it turn faster, but at what cost? Its a 24 volt motor. Pix in a day or so when I get it reassembled and ready to rock and roll.
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) If we desire respect for the law, we must first make the law respectable. - Louis D. Brandeis Genes Web page <http://geneslinuxbox.net:6309/gene> _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
