> On 7 April 2016 at 06:53, Nicklas Karlsson <nicklas.karlsso...@gmail.com> > wrote: > > An inner velocity loop and outer position loop as above I think is the > > method. > > It is possible to get decent results with torque-mode drives and only one > loop. > My mill is running with 8i20 drives and resolver feedback. The servo > thread is running at 1kHz and it all seems to work perfectly OK.
I have tried torque mode with only one loop and it is possible to get it to work without feed forward, descent or not is however another question. With FF should be better. Second derivtive feed foward should be sensitive to load variations. Nicklas Karlsson ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
