Leslie Newell wrote: > I have just got the lathe on the internet so I uploaded a screen shot of > the I weirdness <http://imagebin.ca/view/Yh4hGxr.html>. It shows a long > move followed by the term returning the axis to position. The big spikes > are accel/decel. Here is a shot with the I term turned down to 0 but > everything else the same <http://imagebin.ca/view/3Uj1P_1.html>. I still > need to play around with the tuning to get rid of those acceleration > spikes. The accel is set very high at the moment for testing purposes. > Reading the calibration dialog box to the right of Halscope, I see the first pic has I at 500. That is WAY too high. I don't know the exact dynamics of the I calculation, but I never set it anywhere near that high. I usually have it at a few % of P, max. I note that FF1 and FF2 are not zero, they can muddy the waters a lot. The 2nd pic looks fairly good, although I don't know what speed these moves were. As for the accel spikes, FF2 is easy to overdo, and is very sensitive, so a change from .002 to .0025 can make a big difference.
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