Well. I have some good news at leat based on my experience tuning servos. I mounted the motor and now is working moving the screw (this is a SAE 1045 steel screw with a nut made out of nylon 6). Doing a quick tuning today I got a 0.2 mm of error and the oscillation stoped when the joint reached the position.
The only thing is that I'm getting vibrations during the moving of the joint. I know I need more tuning but may be there are some tips for this. Also I'm working at 3000 mm/m wich is half the velocity I expect but I don't have complains so far. Thanks as always! 2013/12/6 Leonardo Marsaglia <leonardomarsagli...@gmail.com> > I will try it with load tomorrow or next monday, because I'm finishing > with the encoder coupling for the screw. I never tried the autotunning but > it is supposed to tune all the motor parameters to get better torque. I > hope that helps to improve the positioning. Anyway as I told before I don't > need centesimal accuraty, but now I need to ged rid of that oscillation > that doesn't stop. I will try and see what happens the I'll tell you. Off > course I'll be uploading some videos when it's working :). > > Thanks as always! > > > 2013/12/6 Jon Elson <el...@pico-systems.com> > >> On 12/05/2013 09:35 PM, Leonardo Marsaglia wrote: >> > 2013/12/5 Jon Elson <el...@pico-systems.com> >> > >> >> Is this a flux vector drive, or a standard VFD? A >> >> flux-vector drive can >> >> perform the computations to keep the rotor excited without >> >> moving >> >> it. A standard VFD cannot, it has to move the motor to >> >> excite the >> >> induced field in the rotor. So, it will keep "dancing". >> >> >> > It says that is a FOC (field oriented control) ac drive, so I guess it's >> > not a standard VFD. Anyway it has a lot of options even an autotunning >> > feature so may be I'ts not well configured to get the maximum out of it. >> > Now I have set it to work only with +/- 10 volts and without any >> > acceleration or breaking assistance, so all the acceleration a >> deceleration >> > it's done by the PID of LinuxCNC. >> Ah, then do the autotune and turn off most of the PID >> features in LinuxCNC. >> Don't use any I, a low P value and just a little D, and no >> FFx. Let the >> drive do most of the hard work. You will probably need to redo >> the autotune when the motor is connected to a load. >> >> Jon >> >> >> >> ------------------------------------------------------------------------------ >> Sponsored by Intel(R) XDK >> Develop, test and display web and hybrid apps with a single code base. >> Download it for free now! >> >> http://pubads.g.doubleclick.net/gampad/clk?id=111408631&iu=/4140/ostg.clktrk >> _______________________________________________ >> Emc-users mailing list >> Emc-users@lists.sourceforge.net >> https://lists.sourceforge.net/lists/listinfo/emc-users >> > > > > -- > *Leonardo Marsaglia*. > -- *Leonardo Marsaglia*. ------------------------------------------------------------------------------ Rapidly troubleshoot problems before they affect your business. Most IT organizations don't have a clear picture of how application performance affects their revenue. With AppDynamics, you get 100% visibility into your Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
