On Thu, 18 Aug 2011, Scott Hasse wrote:
> Date: Thu, 18 Aug 2011 07:10:03 -0500
> From: Scott Hasse <[email protected]>
> Reply-To: "Enhanced Machine Controller (EMC)"
> <[email protected]>
> To: "Enhanced Machine Controller (EMC)" <[email protected]>
> Subject: Re: [Emc-users] Mesa 5i23/7i33TA servo instability question
>
> One hopefully quick question I have is with respect to the PID P parameter.
> Everything I've seen seems to indicate this should be a positive number in
> the EMC2 configuration. Is that correct?
Yes, the PID component MUST have positive tuning coeficients. If you need to
reverse the feedback, change the sign of the output scale.
The reason I emphasize this is that the PID compnent has a bug with negative
tuning parameters that can lead to runaway on an otherwise properly setup
control loop that saturates.
>
> Thanks,
>
> Scott
Peter Wallace
Mesa Electronics
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