On Saturday 22 December 2012 15:55:46 Peter C. Wallace did opine:

> On Sat, 22 Dec 2012, Stephen Dubovsky wrote:
> > Date: Sat, 22 Dec 2012 14:27:39 -0500
> > From: Stephen Dubovsky <smdubov...@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] Pid
> > saturated, was: Servo error
> > 
> > Sorry Peter, I have respect for you (great products!) but I
> > *COMPLETELY* disagree w/ this.  I have my masters degree in power
> > electronics and control and have lots of experience in on and off
> > road traction drives (aka electric vehicles.)
> 
> Sorry, its very clear from you dont understan tuning a voltage mode
> drive This is obvious when you say D is not important. D is critically
> important in a pure voltage mode drive like an HBridge.
> 
> Peter wallace
> 
Peter; Which mode would you call a pwmgen->fast C41>->10kresistor>->center 
pot arm connection to the 250 watt controller in a mini-lathe?

This is the configuration, with the 10k resistor between the (cnc4pc) C41 
output and the pot arm terminal of the controller in the mini-lathe.  It is 
now linear enough that a bit of multiplied enc.velocity seems to arrive at 
both fairly stable control, and within 5% of the correct speeds as set by 
an sxxx command from the mdi entry box.  Only the very low speeds, <120 
rpm, seem to need some tweaking yet.  The control seems load stiff, but if 
I use any Igain, the settling time to final speed at "s60" rpm, can be 
minutes as it starts very slowly & gradually, very gradually ramps up to 
about the right speed of 1 rps.

But, I am still trying to grok this beast well enough to know which knob to 
tweak to fine tune what, hence the questions.

Thanks

Cheers, Gene
-- 
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harder and harder to find any...

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