> > ... The lag also seemed to vary with velocity. > > > > > Most specifically, it was a lag in the encoder's loop to respond to > acceleration. > Velocity was fine, but when there is acceleration, the encoder's > velocity didn't change for a few milliseconds, then it had to produce > velocity greater than real for position to catch up. > I thought it was a really severe problem, but it seems it may not be all > that bad. But, it can make servo tuning more tricky. > > Jon
Delay is called phase in control theory and it is not good at all for fast response. ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, SlashDot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
