Dear Jon, I am very appreciated you can help me and give me some suggestions. > Howard Chan wrote: > >> Dear Jon, >> Today I tune the PID again. Would you mind help me to check the value >> and give me some suggestion? Thank you! >> >> [TRAJ] >> DEFAULT_VELOCITY = 13.30 >> MAX_VELOCITY = 33.34 >> DEFAULT_ACCELERATION = 45.0 >> MAX_ACCELERATION = 50.0 >> >> [AXIS_1] >> MAX_VELOCITY = 50.0 >> MAX_ACCELERATION = 50.0 >> BACKLASH = 0.000 >> INPUT_SCALE = -2835 >> >> When P=20, I=50, D=0, FF1=0, FF2=0 and click 'F2' >> http://myweb.polyu.edu.hk/~icwfchan/p1.png >> >> When P=20, I=50, D=0, FF1=0.198, FF2=0 and run 'Y=20' >> http://myweb.polyu.edu.hk/~icwfchan/p2.png >> >> When P=20, I=50, D=0, FF1=0.198, FF2=0.00021 and run 'Y=20' >> http://myweb.polyu.edu.hk/~icwfchan/p3.png >> >> > First trace is just the settling of the servo when it goes from open- to > clesed-loop. >
I am using SANYO DENKI server motor and amp but I don't how to check it is open or close loop. It is the amp manual: http://myweb.polyu.edu.hk/~icwfchan/M0006890C.pdf According to manual 3-1(Page. 33), I use CN1 to connect 7I33T and 7I37T. And setting some parameters in the server amplifier: 1. Set 'velocity addition command input selection' => _Analog_Input (manual 7-15 Page.128) 2. Set 'analog velocity command scaling'=> 106min^-1/V(manual 7-15 Page.128) I set the max feed of the machine is 3000mm/min. There are 16:36 pulley ratio between the motor and ball screw. My calculated method is 3000/(16/36)/(25.4/4) = 1063 /min. I set the MAX_OUTPUT is 10 volt. 3. Set 'encoder signal output format'=>Encoder signal direct output Would you mind helping to check them is it correct or telling me are there any parameter I need to set? > 2 later traces show you need more FF2, increase in small increments. I > think you could use more P gain, less I (at least until all other tuning > is done) and a bit of D to damp out the fluctuation in the error. If > that error scale factor is 2 milli-mm (2 um) per division, then maybe > just work on > I think it is impossible for me that error scale factor in 2um per division. Today I set a large P(70), I=10, D=0.2, FF1=0.1993, FF2=0.003 and feed 1000 http://myweb.polyu.edu.hk/~icwfchan/p4.png but the FERROR = 0.10 and MIN_FERROR=0.010 (so large) At the startup, there are an error which is large then 2um(circle 1) and the error of acceleration is so large(circle 2), I tried to increase FF2 but it cannot import. > the FF2 and damping, I doubt you can improve much on the rest. > > Jon > > I am very disappointed to set EMC parameters T_T(cry). In my case, if I change to use digital input, it is more better to use analog input. Yet I don't know 5I20 can support or not. Do you have any suggestion for me? Thank you!! Howard > ------------------------------------------------------------------------------ > SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. > The future of the web can't happen without you. Join us at MIX09 to help > pave the way to the Next Web now. Learn more and register at > http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > > ------------------------------------------------------------------------------ Check out the new SourceForge.net Marketplace. It is the best place to buy or sell services for just about anything Open Source. http://p.sf.net/sfu/Xq1LFB _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
