Howard Chan wrote: > Dear Jon, > Thanks you give me some suggest. Today I try to use small value of the > P. But there are an error when I click 'F2'. > http://myweb.polyu.edu.hk/~icwfchan/error.png > Would you mind telling me what has happen? > > WOW, very strange. I think it is integral windup. Your parameters of huge I and small D are quite odd. Set I to zero first, and see if this gyration when you hit F2 goes away. I think it will. > http://myweb.polyu.edu.hk/~icwfchan/x.png > I would like to ask you is it the accel/decel too high and how can I > find the best value of DEFAULT_ACCELERATION > > Find out what the drive is capable of, by increasing it in moderate steps until a large error suddenly appears during the accel/decel parts of the move. Then, back off, say 20 to 25% from that value. On my Bridgeport mill, if I turn up the accel too much, I break timing belts. I know that the belts are undersized for the mass of the machine. > My setting: > [TRAJ] > DEFAULT_VELOCITY = 10.0 > MAX_VELOCITY = 37.6 > DEFAULT_ACCELERATION = 112.8 > MAX_ACCELERATION = 138.0 > > [AXIS_0] > MAX_VELOCITY = 56.4 > MAX_ACCELERATION = 112.8 > P = 4.000 > I = 100.000 > D = 0.00 > FF0 = 0.000 > FF1 = 0.089 > FF2 = 0.0019 > > Jon
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