What is the status of PID_MAX_VEL and PWM_OUTPUT_SCALE? My understanding is that they were created to fix persistence issues. I am using EMC 2.1.7 so should I still use them?
>From a previous thread and a desire to optimize my .ini file settings, I decided to monitor the DC output from my UPC/PWM amp setup to my brushed motors while doing some tuning. I ramped up my jog velocity until I got following errors and noted that the voltage was 22 Volts. Considering that my motor supply is 100 Volts, I concluded that I needed to increase the output scale from 1 to whatever was needed to get the motor voltage close to 100 Volts. (I thought that I read somewhere that OUTPUT_SCALE should only be +1 or -1?) I got to a PWM_OUTPUT_SCALE of 35 and 32 Volts before I started getting following errors again. I am a little surprised that wasn't able to raise the scale to a voltage output close to 100 and the increased voltage did not seem to help reduce my FERROR and MIN_FERROR numbers. Does anyone have a guess at why I should get following errors as I increase output voltage. Another strange thing is that when I first tuned the lathe, I would get resonance at a P value above 250, I now have it at 700 and still have not reach resonance. Below is may current X axis setup. (full document here: http://www.wallacecompany.com/cnc_lathe/HNC/emc2/configs ) # First axis [AXIS_0] TYPE = LINEAR UNITS = 0.03937007874016 HOME = 0.000 MAX_VELOCITY = 2.0 MAX_ACCELERATION = 3.0 PID_MAX_VEL = 100 BACKLASH = 0.000 CYCLE_TIME = 0.001000 INPUT_SCALE = 50000 OUTPUT_SCALE = -1 PWM_OUTPUT_SCALE = -30 MIN_LIMIT = -12.0 MAX_LIMIT = 2.0 FERROR = 0.0002 MIN_FERROR = 0.0025 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.8 HOME_LATCH_VEL = -0.06 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = NO DEADBAND = 1e-06 P = 700 I = 0 D = 0 BIAS = 0 FF0 = 0 FF1 = 7.5 FF2 = 0 -- Kirk Wallace (Hardinge HNC lathe, California, USA http://www.wallacecompany.com/machine_shop/ ) ------------------------------------------------------------------------- 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 [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
