On Wed, 31 Oct 2012 19:28:30 -0700 (PDT), Peter C. Wallace wrote: > After spending some forum time trying to help a customer with tuning > a torque > mode drive, I have noticed that ferror is calculated incorrectly and > if > minimized will result in less than optimum actual error. > > The error appears to be that ferror is calculated before the > trajectory is > calculated so it always compares the previous waypoint with the > current > (encoder) position. This is easily see by the difference in ferror > from the > PID error (they should be the same) > > This causes a value equal to the velocity in machine units per > second*servo > thread_period to be added to the ferror.
interesting. Can you give your preferred technical reference for the PID error calculation for review? I am sure I can dredge several up, but you might have a clearer reference. Also, have you located the offending code? If so what file and line number? Thanks and best regards, EBo -- ------------------------------------------------------------------------------ Everyone hates slow websites. So do we. Make your web apps faster with AppDynamics Download AppDynamics Lite for free today: http://p.sf.net/sfu/appdyn_sfd2d_oct _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
