On 11/30/2020 01:07 AM, Gene Heskett wrote:
And this has an encoder generating good quadrature signals optically, on
the back end of the motor, from which the encoder module will output
both position in counts (for comparison to SCALE) and velocity. Can I
use both signals in 2 pid's in series? I've seen that mentioned in some
of the searched for links with the claim that its much more stable that
way.
There's no need, and a lot of good reasons NOT to use two
PIDs. The PID component DOES have a pin to accept a
velocity input. I use this in my later PWM systems where
the PPMC driver does output a smoothed velocity.
And this particular driver doesn't seem to have a usable
current sense output.
Torque mode amps accept a command input and make the output
CURRENT match that.
If the servo amp is a VOLTAGE amp, then the tuning is a bit
different, but may actually be easier
than a torque mode system. That's what my PWM servo amps
do. You want to tune first with FF1, with P set quite low.
When error is reduced to a small amount with FF1 adjustment,
then turn up P.
Jon
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