Hi Peter, My point is that the I term is introducing the error in the first place. As you can see from the second plot, without I the response is pretty good.
I have been wondering if my problems are hostmot2 related but I can't think of any way that they can be. The encoder appears to be reading correctly and the output is simply PWM - I can't see how that could affect the tuning in the way I am experiencing. Les > Actually it may be that the HostMot2 tuning parameters are different for some > reason. Once the P/D/FF1 are tuned, I would think a much larger value of I > should be used, as 500 seemed to take more than a second to pull in a many > count error (I'm guessing the counts from the steps in the second half of the > trace). I would think that the I term should fix that large of an error in a > small fraction of a second. Also if the I term is too high relative to P you > will get oscillation (P is damping relative to I) ------------------------------------------------------------------------------ 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/Challenge _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
