dave wrote: > On Tue, 2009-12-22 at 22:38 -0700, Dustin Monroe wrote: > >> Ok, I messed around with a 9v battery and adjusted the reference gain >> and loop gain and got all three axis working without any following >> errors. Now I have a new problem to solve, I am getting oscillation that >> I cant get rid of and when I adjust the gain enough to solve it, i get >> following errors. The oscillation doesn't seem bad except on the y axis. >> the z and x feel almost like they are going back and forth between faces >> on the encoder but the y has a pronounced vibration. Im thinking i will >> need to rent an oscilloscope to fine tune the motors. >> > > Opps! Short answer: if it oscillates then reduce P. Then work on FF1. > Start by setting FF1 to 1.0. > I think that you can do about 90% of your tuning with just those two > parameters. > He may have oscillation in the velocity servo amp itself. If so, EMC can't solve that. He didn't make any mention of tuning the dynamic response of the servo amp, and doesn't have an oscilloscope. It may be possible to use HalScope as a storage scope to analyze the problem, I have found it fairly useful even for tuning the servo amp's internal settings. But, it gets into a WHOLE big can of worms when you have 3 nested servo loops to tune, and even gives me fits, after 10 years tinkering with them.
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