2012/1/28 Peter C. Wallace <p...@mesanet.com>: > >> >> I tried 3 times switching back and forth - with PID disconected and >> BLDC value set to 0,95 motor does not move. > > Thats very strange, the motor should run at full speed with a fixed bldc drive > value. Can you post your hal file somewhere (like pastebin.com) >
Done: http://pastebin.com/0M1ASyhB I tried one more, this time with joint1 (Y1 section in HAL file). What I did: Changed to trivkins Added setp bldc.1.value 0.95 Commented out pid.1.out => bldc.1.value Still the same - no movement. If I reattach pid.1, I can jog the motor. > > It would not provide any improvement, just prevent pathological behaviour if > the PID sets the PWM to 100% (which should be prevented) > > > >> >> So this far only reducing servo period did help. Unfortunately that is >> coming with RTAI error warning messages. I ran latency test for a >> while and got 12000 ns max jitter on servo thread. >> > > Is this on a 5I23? > Yes, 5i23 with 2x 7i39s. > > 2 KHz should be easy (I am running a 8I20 test at 6 KHz currently with a 5I23) > > Do you have a base thread? (you shouldn't need one) > No base thead. The PC is: Intel D525MW 2GB RAM 4GB CompactFlash in SATA adapter I have been trying to get the tuning right. So far I have managed to get one motor move smoothly up to 4000 mm/min. In HALScope it seems that f-error stays within 0,1 mm during movement, which I find to be accetable, static f-error is less than 0,003 mm. Here are PID parameters for that motor: # PID tuning params DEADBAND = 0.002 P = 380 I = 10 D = 1.9 FF0 = 0 FF1 = 0.1 FF2 = 0 BIAS = 0 I hav a problem with remaining 2 motors. Firstly I thought that I might copy these settings, since drives and motors are equal and then try to adjust for the different load. That failed. Then I started from scratch and I cannot find any settings to turn the motors smoothly. I set everything to 0, P to 1 and it is already oscillating. Then I set P and got "joint exceeded following error". The f-error is set to 100 mm, so obviously P should be higher. I have tried numerous values between 1 and 300, but nowehere I get smooth motion. What should I do? 2012. gada 28. janvāris 18:14 noel <noel.ro...@comcast.net> rakstīja: > All interested in Servo Tuning. > > Have a look at: > http://support.motioneng.com/Downloads-Notes/Tuning/default.htm > Thank You! I will do some reading. Viesturs ------------------------------------------------------------------------------ Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
