On Sun, 25 Sep 2011, Chris Morley wrote:
> Date: Sun, 25 Sep 2011 20:38:41 +0000
> From: Chris Morley <[email protected]>
> Reply-To: EMC developers <[email protected]>
> To: EMC DEV <[email protected]>
> Subject: Re: [Emc-developers] servo scale setting questions
>
>
>
>>
>>
>> Thinking about this a little more, I think theres a good argument for
>> setting output scaling to the maximum velocity in machine units per second,
>> at
>> least for velocity mode servos and HBridges (which are voltage mode which is
>> close to velocity mode)
>>
>> The advantage of this scaling (I think) is that the basic PID units
>> are normalized for both inch and metric machines so PID values can be the
>> same
>> for both. That is the input to the PID comp is already in machine units, so
>> to
>> maintain proportionality, the output of the PID comp should also be in
>> machine
>> units.
>>
>>
>>
>
> so do you mean you would have to know the max speed in machine units
> (say 3.33 inches per second or 200 IPM )
> then the scaling would be 3.33 and PID max output would be 3.33 (or slightly
> less if using
> an H-bridge)
Yes, For example if a velocity mode servo drive moves an axis at 3.33 IPS at
full scale 10V input, I would chose 3.33 as the output scale. This also has
the advantage for velocity mode drives of being able to preset velocity feed
forward (FF1) to 1 when starting tuning
>
> Have I got that right?
>
> Chris M
>
Peter Wallace
Mesa Electronics
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