On Fri, 21 Dec 2012, Viesturs L?cis wrote:
Date: Fri, 21 Dec 2012 12:48:52 +0200
From: "[UTF-8] Viesturs L?cis" <[email protected]>
Reply-To: "Enhanced Machine Controller (EMC)"
<[email protected]>
To: "Enhanced Machine Controller (EMC)" <[email protected]>
Subject: Re: [Emc-users] Pid saturated, was: Servo error
2012/12/21 andy pugh <[email protected]>:
On 21 December 2012 08:42, Viesturs L??cis <[email protected]> wrote:
What I observed is that pid got saturated as the motor was 20-30
degrees from its commanded position. I guess that tuning is pretty
tight.
Actually, that doesn't sound particularly tight. I would expect to be
hitting full scale rather earlier than 30 degrees of shaft movement.
Thanks! What is better in my case, when motors are bigger than drive
would like them to be (I mean that they are drawing too much current)?
Tight tuning or softer feedback loop?
A couple of questions to see whwre we are here:
What are the notors continuous and peak current specifications?
What is the motor winding resistance?
What is the motors torque constant? (NM/A)
What is your power supply voltage?
Is this a 7I39H or 7I39L?
Is it jumpered for maximum current?
Peter Wallace
Mesa Electronics
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