Greetings all the pid experts; I changed out the bob for one w/o the input capacitors, looks 1 million times better on the scope
Playing with what little servo I have configured so far, trying to get it to actually act like a servo. I don't have a valid SCALE yet but expect it will be large so I set it to 1150. Hooked the encoder feed back back up in hal. Couldn't make it move, pwmgen limited to about a 2% duty cycle. Not enough to move the motor. looking at the pid_a with halconfig, I saw that pid_a.maxerror was set to .0005. Curious, since it was at that point sitting around 1000 out of balance, I did a setp to set it to 1000. Motor almost jumped off the stepladder and ran toward balance at a good clip but eventually stopped when encoder feedback into pid_a.feedback was about 2 from equalling pid_a.cmd. That .0005 was an old setting, but worked when a stepper was doing the shaft twisting. I certainly don't remember adding it 5+ years ago. That was set in the .hal file but I've no clue why. Whats the default if its not set? It is not in the .ini file Right now I can run it either way, but it takes a long time to settle like it needs a lot more Pgain yet, taking at least 30 seconds, to over a minute to reach a quiet sorta balance as the motor stops before hitting exact balance, but it may take many seconds of bumping along before it stops for good, leaving the pwmgen outputting 10 to 15 microsecond pulses forever. But its progress, and I'm learning. And wondering if I need to put a low level dither in it somehow. And still no bolts for the motor mounts. So I'm twiddling my thumbs. Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) If we desire respect for the law, we must first make the law respectable. - Louis D. Brandeis Genes Web page <http://geneslinuxbox.net:6309/gene> _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
