Hi, First thing I notice, you dont have any ff term. I guess you have ho external current or velocity regulator, just a position pid outputting voltage via pwm? That is not really the best setup, but still should be possible to tune…
Rene > On 25 Oct 2016, at 08:16, Marius Liebenberg <mar...@mastercut.co.za> wrote: > > Hi All > I have a problem with a machine using servos. It is a 4 axis machine with the > 4th axis being rotary. The linear servos are tuned and working very well but > the rotary axis is not behaving well. It has a severe oscillation and I > cannot seem to get the PID trimmed to stabilize the servo. > > The 4th axis used to be a stepper and that worked well but we changed the > stepper for a servo to get more speed through a reduction planetary gearbox. > I attached the HAl and INI files. Maybe I missed the obvious again > > The setup is like this: I use a 5i23 with two H Bridges from Mesa. Remaining > ports has a 7i33 and a 7i37 to drive the 4th axis servo and do some I/O. > > ----------------------------- > Regards / Groete > > Marius D. Liebenberg > +27 82 698 3251 > +27 12 743 6064 > <Mail > Attachment.png><5i23_router.ini><5i23_router_4th.hal>------------------------------------------------------------------------------ > The Command Line: Reinvented for Modern Developers > Did the resurgence of CLI tooling catch you by surprise? > Reconnect with the command line and become more productive. > Learn the new .NET and ASP.NET CLI. Get your free copy! > http://sdm.link/telerik_______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ The Command Line: Reinvented for Modern Developers Did the resurgence of CLI tooling catch you by surprise? Reconnect with the command line and become more productive. Learn the new .NET and ASP.NET CLI. Get your free copy! http://sdm.link/telerik _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
