On the monarch I have a relatively rube goldberg setup to run the spindle motor. It requires 0-1000 rpm be controlled by the field - then 1000 to 2500 run by the field being weakened. I setup a hal file using a couple lincurve components (and some other logic) So - If I enter 1000 rpm - I get pretty close to 1000 rpm out. 1500 rpm - I get close to 1500 rpm out. Seamless..
So - after getting that far - I put a pid loop at the linecurve component reading the encoder feedback. I set P to 1 assuming that it should act like I don't have a pid. Instantly - if I set the command to the pid to 1000rpm - I get exactly half. 500rpm I goofed around with the thread order and it had no effect. I am pretty sure I have them in the right order. If I add a bit of I - it works ok - I am wondering why I am seeing a perfect 1/2 rpm when using the pid. The PID error is also 1/2. So command = 1000 feedback = 500 error =500 weird.. sam _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
