Hello, I use to read the list to get more insight on different aspects related to EMC. Right now we are facing some problems related to PID tuning.
And when I have read this > > If you have a good analog velocity mode system you can get smooth > motion at > slow speeds without a high line count encoder. > I've remembered that apparently (eye is the tester, still no measures) our "tuned" PID is giving us smooth motion at relative high velocities (order of 100mm/s), but visible oscillations (0.1mm approx ) at low velocities (order of 1mm/s). I wonder if this effect can be related to a low resolution encoder, our encoders are able to give 10mm/4096 pulse spacial resolution. Also, we are controlling using torque (intensity), although the drive can be configured to accept velocity as command. The motor has a resolver internally, but the driver exports only quadrature signals ABZ -A-B-Z, that I plug directly to my motenc-100 card. Can this imply that I can get a more smooth motion using driver configuration to accept velocity?. Any comments are welcome. Thanks Javier ------------------------------------------------------------------------- This SF.net email is sponsored by the 2008 JavaOne(SM) Conference Don't miss this year's exciting event. There's still time to save $100. Use priority code J8TL2D2. http://ad.doubleclick.net/clk;198757673;13503038;p?http://java.sun.com/javaone _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
