> > I have been noticing a bit of jumping around > > when doing parallel finishing 3d passed on it at high speed. > > I wonder what effect could be had by rate-limiting the PID output to > the motors?
Integrator should ideally have anti-windup. Know about and how it should be implemented? Otherwise I could write down equations in discrete or z-transform form? Implementation should be simple once case equations are written down but even though I studied quite many math courses at University I always need some time to get it correct. > You would expect it to increase following-error (but possibly only > along the path, where it has less effect on geometry) Yes, this is because it limit rate of change also for small changes, pretty sure it also get non-linear. Not sure if it is a good idea but are sure anti-windup is a good idea. Nicklas SB Karlsson _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
