On Monday 11 January 2021 06:22:22 Gene Heskett wrote: I have this at the moment for AXIS_A and JOINT_3 in my .ini file #******************** # Axis A #******************** [AXIS_A] MAX_VELOCITY = 30.000 MAX_ACCELERATION = 500.00
[JOINT_3] TYPE = ANGULAR HOME = 0.0 HOME_SEQUENCE = 3 HOME_SEARCH_VEL = 9.0 HOME_LATCH_VEL = -1.0 HOME_FINAL_VEL = 30 HOME_OFFSET = 4.498500 VOLATILE_HOME = 1 FERROR = 0.50 MIN_FERROR = 0.25 MAX_VELOCITY = 30.000 MAX_ACCELERATION = 500.00 P = 6000 I = 0.500 D = 0.500 FF0 = 0 FF1 = 21.5 FF2 = 0.55 BIAS = 0 DEADBAND = 0.00015 BACKLASH = .00001 MAX_OUTPUT = 750.0000 SERVO_SCALE = 666.6666666666667 PWMGEN_TYPE = 2 But as you can see, error noise is still being a problem, and the ACCEL is best described as leasurely, taking about 3 seconds to get to around 850 degrees a minute. And trying to limit the windup by restricting MAX_OUTPUT is making the windup very obvious, taking that same 3 seconds to stop after the key is released once it gets up to cruising speed. For this same reason, I have to use very slow homing searches else it sails right by the switch going false for around 9 degrees and keeps on going forever. The motor is pretty much doing what its being told to do by motion according to halscope. Can anyone see whats wrong? Thanks. 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
