On 04/06/2016 05:58 AM, W. Martinjak wrote: > Hello, > > at first some questions. > What are your values of > INPUT_SCALE and > DEADBAND > ? > > BR > > On 2016-04-06 10:53, Marshland Engineering wrote: >> I finally have my mill table moving under CNC control. >> >> I'm using a 70 volt supply with DCM D6 drives in Torque mode, Mesa 7i48 >> cards, >> Linear scales for position and 1.2 kw DC brush motors (my guess on the power >> as they are 90 volt motors but no current rating) >> >> The only way I can get any control over the travel is setting P = 0.5 which >> of >> course makes the position accuracy poor. Any more P and I get sever >> oscillation. With the size of motor and the 1m table, there is quite a lot >> of >> inertia in the system. >> >> Anyone suggest starting values or any other suggestions to get this under >> control. >> >> What do you have for FF1 and FF2? FF1 gives an initial value to the output BEFORE even looking at the current velocity or position error. FF2 does the same for acceleration, which should be even more important in a torque loop. FF2 is usually extremely sensitive, I usually end up doing all the tuning in the 3rd decimal digit.
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