On Fri, 28 Dec 2012, Viesturs L?cis wrote: > Date: Fri, 28 Dec 2012 12:04:26 +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 > > 2012/12/27 Peter C. Wallace <[email protected]>: >> >> This is very unlikely to do what you think it will (assuming default +-1.0 >> PWM >> ranges this will be 90% of full scale voltage so the 7I39 will current limit >> and you will not get anywhere near the current ratios you expect) >> >> >> I would try plain old Q mode (with maybe an init value of .1 or .2) > > Ok, I did try in plan q mode, initvalue was 0.1 > Bldc homes the motor - I can see it moving a little bit back and forth > before init-done pin goes high. > If I try to jog the motor, then pid immediately gets saturated and it > remains until following error is triggered. Sometimes it would get > saturated immediately after enabling motion with F2, but most of times > it would stay calm until I press a jog button again.
M mode should work as long as you dont have a lot of static torque on the motor (you need to wire bldc.init to machine on so it goes through a homing cycle every machine on) You can try init values up to the point that the 7I39 current limits (red LED) in case .1 is not enough Also make sure the offset value is 0 for M mode > > > Here is a trace from halscope. I tried to check the consistency of > hall signals. They certainly do not seem like 60 degree hall pattern. > They are not overlapping evenly: > http://picpaste.com/hall-uneven-Yx5pzGTP.png > > -- > Viesturs > > If you can't fix it, you don't own it. > http://www.ifixit.com/Manifesto > > ------------------------------------------------------------------------------ > Master HTML5, CSS3, ASP.NET, MVC, AJAX, Knockout.js, Web API and > much more. Get web development skills now with LearnDevNow - > 350+ hours of step-by-step video tutorials by Microsoft MVPs and experts. > SALE $99.99 this month only -- learn more at: > http://p.sf.net/sfu/learnmore_122812 > _______________________________________________ > Emc-users mailing list > [email protected] > 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. ------------------------------------------------------------------------------ Master HTML5, CSS3, ASP.NET, MVC, AJAX, Knockout.js, Web API and much more. Get web development skills now with LearnDevNow - 350+ hours of step-by-step video tutorials by Microsoft MVPs and experts. SALE $99.99 this month only -- learn more at: http://p.sf.net/sfu/learnmore_122812 _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
