Frank Tkalcevic wrote:
>> Hm, the hm2 encoder velocity output is supposed to be really smooth.
>> I'll double check it tonight. Any chance you can supply a
>> halscope trace of it looking bad on your machine?
>
> I'm using 2.3.
>
> Here's a trace of the commanded velocity (after going through limit3),
> encoder velocity (*60) and the lowpass output.
>
> http://www.franksworkshop.com.au/img_bin/Velocity.png
>
> The encoder scale is 12000; 12000 pulses representing 1 revolution. The
> encoder velocity output is then multiplied by 60 to give rpm. The graph
> shows acceleration to 20rpm and stop.
Wow, that looks terrible.
It looks like the command starts moving, then it takes a full 200 ms
before the encoder responds at all, and it immediately overshoots by a
factor of two.
This is a servo-spindle, right? If you disable the PID and PWM, and
turn the spindle by hand, does it look any better? I know it's hard to
say what the real velocity should be in that case, but this test would
remove the PID tuning question.
I did all my encoder velocity testing using the stepgen in quadrature
mode, and i'm pretty sure it looked much better.
--
Sebastian Kuzminsky
you press what you hope is the right switch, and you
- jump, becoming light
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