2012/12/20 Andrew <[email protected]>: > 2012/12/20 Viesturs Lācis <[email protected]> > >> I discovered that there is a pid.n.saturated pin that is "true" at the >> moment when I thought that motor is running away. For that joint I >> increased max output from 0.5 to 0.67 and at least jogging up to >> 5m/min is fine. So I managed to get PID parameters that keep following >> error within 0.02 mm which I find acceptable for plasma table. >> >> > I don't understand why you limit MAX_OUTPUT to 0.5 or so. > Usually MAX_OUTPUT 10 corresponds to max velocity of motor. > Thus 0.5 is only 1/20 of max motor rpm! > You limit it then PID gets saturated but the motor can't catch up the jog > speed that you want. > Just increase it
I have 7i39LV as servodrives and MotionKing servos that have 8.7A rated current (now I understand that it is not a good match). 7i39 has 10A limit for current. I thought that this limit applies to each motor, but since there is 10A fuse soldered right next to motor power input on card, it applies also to whole card. As I have 2 such motors attached to each of two 7i39 cards in the machine, I am limiting the pid output because I do not want to reach limits of the servo drive and blow the fuse or whatever. I just brought it to error (one of error LEDs turned on) with max_output = 0.9 and attempts to move only one motor. The Max_output value alone does not tell much, it should be considered together with output_scale value, which is 1.0 or -1.0 for all joints. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ LogMeIn Rescue: Anywhere, Anytime Remote support for IT. Free Trial Remotely access PCs and mobile devices and provide instant support Improve your efficiency, and focus on delivering more value-add services Discover what IT Professionals Know. Rescue delivers http://p.sf.net/sfu/logmein_12329d2d _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
