Hi Peter, I can't see any way of achiving a trip in 20ms. I have the PID saturation limit hooked to my estop chain but it only trips once the amp reaches full output (BTW, the hostmot2 example config does not implement this). If the I term doesn't build up quickly to saturate the output then the axis can travel a long way.
I just ran some tests and I could easily get my X axis to travel from near one limit to the other limit by disconnecting the encoder, just driven by I term. Good job I've got good limits :-) Interestingly, reducing the I term limit actually makes things worse. The I term limit doesn't trip an error but it does limit the output. Therefore you can end up with the output near maximum but not enough to trip an error. Les > > No, PID saturate can get that in 20 mS or less... ------------------------------------------------------------------------------ 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
