On Sun, 22 Apr 2012, Andrew wrote:
Date: Sun, 22 Apr 2012 10:48:40 +0300
From: Andrew <[email protected]>
Reply-To: "Enhanced Machine Controller (EMC)"
<[email protected]>
To: "Enhanced Machine Controller (EMC)" <[email protected]>
Subject: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors
22 ???????????? 2012 ??. 02:42 Peter C. Wallace <[email protected]>
??????????????:
Are you using the encoder velocity output to feed to the pid components
fb-deriv pin?
If not already doing this, this can improve the D noise situation
Thanks, it helps a little
net x-pos-cmd axis.0.motor-pos-cmd => pid.x.command
net x-pos-fb hm2_7i43.0.encoder.00.position => axis.0.motor-pos-fb
=> pid.x.feedback
net x-vel-fb hm2_7i43.0.encoder.00.velocity => pid.x.feedback-deriv
(was pid.x.command-deriv)
Now I have
http://img171.imageshack.us/img171/6079/screenshothaloscillosco.png
7i39 max voltage limits velocity to ~1.25 m/s as we calculated before.
Maybe using 1um encoder instead of 5um would also help decrease D noise?
What are your tuning values? looks like some of the error could be tuned out
with FF1
Peter Wallace
Mesa Electronics
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