On Fri, 27 Jan 2012, Viesturs L?cis wrote:
Date: Fri, 27 Jan 2012 21:58:27 +0200 From: "[UTF-8] Viesturs L?cis" <viesturs.la...@gmail.com> Reply-To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net> To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net> Subject: Re: [Emc-users] Servo tuning - wtf?2012/1/27 Peter C. Wallace <p...@mesanet.com>:On Fri, 27 Jan 2012, Viesturs L?cis wrote:Date: Fri, 27 Jan 2012 21:49:18 +0200 From: "[UTF-8] Viesturs L?cis" <viesturs.la...@gmail.com> Reply-To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net> To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net> Subject: Re: [Emc-users] Servo tuning - wtf? Hello again! I tried searching my mailbox with more than 2 years of this mailing list in it for some "servo tuning for noobs" (actual keywords used were "servo tuning"), but found only 1 viable thread, which contained this link; http://www.newport.com/servicesupport/Tutorials/default.aspx?id=152 My problem is: I can tune servo motor to move smoothly up to ~3600 mm/min, which is ~1500 RPM for motor. In higher speeds at one moment motor stalls and oscillates. Where can I read, how to proceed to reach higher velocities? I have been playing with P and D parameters, but do not see any improvement. ViestursWhats is your servo thread period, and how many poles does the motor have?Servo period is default 1ms. Motors have 4 poles, motors have 2048 CPR (8192 PPR) encoders. Viesturs
What BLDC mode are you using?When it fails and oscillates does the motor behave normally when stopped (equal torque both directions)?
If not you may somehow have lost encoder counts, this should be checked Do you have the encoder filter on?
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Peter Wallace
Mesa Electronics
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