ok.. This is my take... This is why I like linuxcnc>-a/d>- analog drive>-servo>-encoder>-linuxcnc...
The enables are controlled by motion. The power is controlled by estop. The PID within linuxcnc has a lot of power - saturation, following error and so on. It can detect most all faults a closed loop system will have. If following error or saturation or whatever is exceeded - the machine goes into power off... You don't lose position because linuxcnc is still counting encoders. even with an estop removing power from the drives. The encoders are still counting with linuxcnc. We have 3 machines running this way. I think it is the best way. (but it is late and I might be a little intoxicated...) sam On Thu, Feb 11, 2021 at 5:33 PM Jon Elson <el...@pico-systems.com> wrote: > On 02/11/2021 04:37 PM, Gene Heskett wrote: > > > > So, looking at pid.error with a 100mv/div scale, 1 div would be .1 > > degree? > If you look closely at the Halscope screen, you will see > that it does NOT show a "v". > So, you would get a 100m/div scale, 100 milli-somethings. > If the INPUT_SCALE or SCALE in > the ini file is set right so that the DRO on the Axis screen > reads in degrees, then > one division would be .1 degree, at the 100m Halscope scale. > > I think my gain is quite a bit higher than that, but I just ran > > it from here and that is what the pid.error channel is showing for gain, > > 100m. Only the leading edge of a g0 mdi move shows more than .1 degree > > of error, and slowing the max_accel would probably lower that, currantly > > at 1000.. cruizing noise is perhaps +- .20 division worst case. > A little bit of FF2 can help with spikes at the beginning > and end of a move. But, VERY small amounts are required, in > the 0.001 range. > > > Jon > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
