I've been reading EMC2 documentation and trying to come up with a way to make my spindle speeds perform like I want and this is what I've come up with so far:
Use Limit2 to generate a trajectory, acelerate or decelerate at a rate that my drive can keep up with without faulting. I'm thinking of aceleration of 500rpm/sec and deceleration of 300rpm/sec. Use encoder position => ddt in and ddt out X 60 should be RPM. This is because I don't see an encoder velocity for M5i20 encoders. Now use a PID loop with limit2 out as the setpoint and ddt out as the feedback. The PID loop would have to be tuned on the very mild side to work with all my spindle gear ratios, but that should be OK since it would be stable enough running open loop. I thought this might be the "close to perfect" solution and it only needs what is already there as far as hardware and software, just needs some configuration. Would this be simple or are there complications I'm overlooking? I won't get a chance to experiment around with this until next week, anything to point me in the right direction would be appreciated since this is my first attempt to actualy do something with hal. Roger Neal ------------------------------------------------------------------------- This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now >> http://get.splunk.com/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
