On Monday 07 December 2020 12:22:24 Chris Albertson wrote: > Gene, > > It seems you have other worries, take care of your wife first. > That is now done as I posted to Jon.
> What I'm learning about rigid taping from following your effort is > that I want the encoder on the spindle, NOT the motor. I originally built an optical but it wasn't high enough resolution. Then the disk came loose and sawed the optos up, so putting a 1000ppr on the back of the motor, and getting the index from an ATS-667 watching a bolt glued to the side of the spindle cap. That has worked really well IMO. Scale was 274 with the homemade opto. But the Omron on the motor gives a scale slightly above 14,000 (in low gear) and no quantization noise in the feedback. Any phasing error caused by changing gears on the fly, is fixed at the next index. I took advantage of the gear change to send the motor about a 20 rpm speed command when the knob is between gears, so a gear change doesn't require hand on the spindle help to get the new gear to mesh. Very tight speed control. I hear zero sag in spindle speed before the 17 amp current limit kicks in and makes the iron chirp/complain. Pgains of 50 are possible, but 20 isn't quite so brutal. IMO one of the better mods I've done to the hal file. Thanks Chris. 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
