Igor Chudov wrote: > My question is what servo tuning parameters could I use to compensate for > high friction. It seems that I almost need FF(-1) or something like that? > FF1 is feedforward proportional to velocity. FF2 is feedforward proportional to acceleration. Neither of these will really help with friction keeping the axis from reaching the exact commanded position. P is the most important setting to reduce static error, but you can only set it so high. I is supposed to raise the output to drive standing error toward zero, but I have had little success in getting it to help. First, you might find out if some lube might help all that friction. Get P as high as you can, and get the servo amp gain turned up as high as you can.
(For completeness, FF0 is feedforward proportional to position, not a really helpful term.) Jon ------------------------------------------------------------------------------ Special Offer-- Download ArcSight Logger for FREE (a $49 USD value)! Finally, a world-class log management solution at an even better price-free! Download using promo code Free_Logger_4_Dev2Dev. Offer expires February 28th, so secure your free ArcSight Logger TODAY! http://p.sf.net/sfu/arcsight-sfd2d _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
