On Mon, Jul 06, 2009 at 11:02:28PM +0100, Leslie Newell wrote: > Thanks Jon, > > I'll study your docs. What I can't understand though is why I is > increasing the following error.
I'm imagining a very-wrong FF2 setting that causes a large error at the acceleration portion of the move. During acceleration, "I" would wind up to push this toward zero. When the motion abruptly stops accelerating at the beginning of the cruise phase, this "I" is still being applied. Like Peter W recommended, tune at first with I=0 FF1=0 FF2=0. Set P,D to be as stiff as you can get it without oscillation. Then on a move long enough to cruise, set FF1 to null the cruise error. Then set FF2 to null the accel/decel error (it will fix both of them). Once you have no appreciable error you can add plenty of I and it won't work against you. But it WILL work against slowly changing conditions like putting something heavy on the table or taking a heavy cut. Chris ------------------------------------------------------------------------------ Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/blackberry _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
