Chris taught me to tune emc2 axes with motion provided by gcode.
Set your following error sloppy enough to let your machine run untuned, but
tight enough that if it runs away emc will stop it. Run axis (or your gui of
choice), run halcmd (for interactively setting pid gains), run halscope (for
getting a detailed look at pid and joint behavior), and finally run this
program:
g91 ; incremental motion
o10 while [1]
g0 x1 ; go an inch right
g4 p1 ; pause for a sec
g0 x-1 ; go an inch left
g4 p1 ; pause for a sec
o10 endwhile
m2
----- Reply message -----
From: "andy pugh" <bodge...@gmail.com>
Date: Tue, Oct 11, 2011 04:43
Subject: [Emc-users] all those who thirst knowledge.
To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
On 11 October 2011 07:15, Frank Tkalcevic <fr...@franksworkshop.com.au> wrote:
> I opened the first pdf and it has an article on pid tuning. It suggests
> applying a square wave command and tuning from that. How hard is it to
> generate a square wave in emc? Will this require hal trickery or can it be
> done with GCode?
It depends on where you want to generate the square wave, but you
could use either siggen (or just a 50% pwmgen) or a G-code loop
driving an analogue output.
--
atp
"Torque wrenches are for the obedience of fools and the guidance of wise men"
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threats, fraudulent activity and more. Splunk takes this data and makes
sense of it. Business sense. IT sense. Common sense.
http://p.sf.net/sfu/splunk-d2d-oct
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