> On Thursday 23 July 2020 13:34:48 Nicklas SB Karlsson wrote: > > > > On Thursday 23 July 2020 07:53:45 andy pugh wrote: > > > > On Thu, 23 Jul 2020 at 12:47, Nicklas SB Karlsson > > > > > > > > <nicklas.karlsso...@gmail.com> wrote: > > > > > > I wonder what effect could be had by rate-limiting the PID > > > > > > output to the motors? > > > > > > > > > > Integrator should ideally have anti-windup. > > > > > > > > Anti-windup is a little different. > > > > > > > > I was actually thinking about experimenting with a limit3 HAL > > > > component between the PID and the PWM. > > > > > > But that s/b bypassable for rigid tapping as it will increase the > > > following error. Put it in front of the PID. I use it there to > > > profile the spindle turnaround rates to something the Z can follow > > > w/o throwing a Z following error. > > > > Yes in fron of PID, ideally in trajectory planner. I expect a limit3 > > could describe rather well what an electric motor ideally is able to > > follow though a limit4 with variable limits would be perfect, then is > > of course then imperfections is and how good control loop is so I > > would guess limit3 is rather good. > > > And where is this limit4? No man page yet in an early this morning build > of master.
No it does not exist and maybe never need to because of other imperfections. _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
