On Sat, 28 Jan 2012, Viesturs L?cis wrote: > Date: Sat, 28 Jan 2012 21:29:07 +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? > > 2012/1/28 Peter C. Wallace <p...@mesanet.com>: >> >> Can you verify that in addition your raw encoder count the same way? >> > > How do You mean - count the same way? > > If I understand correctly, then I tested this: > If both motors turned clockwise > Then rawcounts increase in positive direction for _both_ motors. > > The thing is: > For working motor - turning clockwise is movement in positive direction. > For nonworking motors - turning clockwise is moving in negative direction. > > I have: > INI file scale values (input, output scale) with "+" signs for working motor; > INI file scale values with "-" signs for nonworking motor. > > Bldc scale value for all motors is -8192 > > Should I also have Hall pattern changed so that it is exactly opposite > to working motor?
No > > What is _recomended_ approach for reversing the direction? > Changing input and output scales as you have > > I also tried Your suggestion: setting all PID parameters to 0 and > choose small P. > I set P to 3 and turned motor by hand. > The resisting torque increased. It felt like gradual increase. I > turned it both directions, it felt the same strength of resistance. I > was able to turn it approximately full turn in each direction, it did > not cog or jump anywhere, but returned approximately to starting > point. OK so commutation is ok, but somthing is funny here. You said it oscillated even with a P of 1 and all else 0. Did it not oscillate with a P of 3? what is the difference between the setup now and when it oscillates? > > 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 > Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your (")_(") signature to help him gain world domination. ------------------------------------------------------------------------------ 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
