On Mon, 17 Oct 2011, Tom Easterday wrote:
Date: Mon, 17 Oct 2011 15:44:38 -0400 From: Tom Easterday <[email protected]> Reply-To: "Enhanced Machine Controller (EMC)" <[email protected]> To: "Enhanced Machine Controller (EMC)" <[email protected]> Subject: Re: [Emc-users] config without encodersOn Oct 17, 2011, at 3:18 PM, Peter C. Wallace wrote:Well its not optomized for extremely fast acceleration (300 IPS/S is FAST)What do you consider less than extreme that we might try? We like fast by the way. It gets to it's business faster that way :-)I dont think you understood what I said above, I was not asking to you to go back to encoders but rather to close the stepgen position loop with a PID component that has as its inputs the commanded position from EMC (as before) but substitute the encoder postion input with the stepgens feeback position This has the advantage of a more complete control loop than provided by the Stepgen position mode driverAh, yes. You mentioned this before and we tried it but kept getting immediate f-error in emc. I think I had the config wrong. This is what I have now that seems to work (sort of…): http://bgp.nu/~tom/pub/hal-y-snip And this is the graph I get doing the same procedure: http://bgp.nu/~tom/pub/velocity-pid.png The same amount of f-error, as before, just less spiky….
That simply looks untuned, have you varied FF1, added some P term etc etc
-Tom ------------------------------------------------------------------------------ All the data continuously generated in your IT infrastructure contains a definitive record of customers, application performance, security 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 _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
Peter Wallace
Mesa Electronics
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------------------------------------------------------------------------------ All the data continuously generated in your IT infrastructure contains a definitive record of customers, application performance, security 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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