Tom wrote: > > Oh oh... Apart from the jog pendant, you just touched on the one aspect of my > Kasuga EMC2 conversion that still bugs me. All the axes buzz and moan while > holding position, and if I try to adjust the D term or deadband to eliminate > this, then my following error causes faults during rapids. > > Is there a way to use the ilowpass filter to eliminate all the noise my mill > makes while at rest?
No, for two reasons: 1) A lowpass filter will not solve PID of instability - if anything it will make it worse since it introduces a lag. 2) ilowpass is an _integer_ filter, it can't be used for floating point signals (which include the command, feedback, and output of PID loops). The correct solution is to tune your PID loops (using D and deadband as needed) until they are stable. You must use halscope to view the resulting waveforms and decide what to adjust. Once you have the axes tuned as well as possible, halscope will tell you the maximum error you have during a rapid. Assuming that is acceptable, you set the following error a bit higher so it doesn't trip. Regards, John Kasunich ------------------------------------------------------------------------------ This SF.net email is sponsored by: High Quality Requirements in a Collaborative Environment. Download a free trial of Rational Requirements Composer Now! http://p.sf.net/sfu/www-ibm-com _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
