> although my documentation is a work in progress, you can get a feel for
> where I am at with this project. It's volunteer work for a hackerspace and
> eventually EMC2 is going to enable us to do all sorts of interesting stuff
> with this hardware.
>
Excellent documentation! When you are finished this I hope you add a link
to the wiki. This would be a good example for some to read when thinking
about retrofitting particularity servo systems. It's the fact of the problems
you
encountered and the solutions that helps so much to paint a complete picture.
>
> To the point, though, I am having one not-so-minor problem. When I enable
> the servos, they are not completely stable, and I'll get following error
> almost immediately after enabling them. They don't run away, but the
> encoders show them moving ever so slightly, and physically the motors
> actually are moving.
>
One thing I seemed read in your docs (though you may have done this since)
is not getting the encoder scaling set properly. If the scaling is way off you
can follow error too soon before PID gets to control much of anything.
One way to to measure it, if you can turn the axis by hand is to fire up
PNCconf's open loop test - but don't enable the amps. Depending how you
power the encoders you maybe able to move the axis a know distance and
read the raw counts of the encoder then use that to calculate the scale.
What version of EMC are you using?
Chris M
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