On Wednesday 10 February 2021 11:20:22 Jon Elson wrote: > On 02/10/2021 01:12 AM, Gene Heskett wrote: > > FERROR = 0.50 > > MIN_FERROR = 0.25 > > > > And as you can see, running errors allowed are fairly > > large as I am not done tuning. > > Geez, these don't protect you at all from something going wrong! > Here's the settings on my X axis : > > FERROR = 0.003 > MIN_FERROR = 0.005 > > Jon You may be forgetting that this is calibrated in a degree Because of this message I went out to play some more, and now have it working a little better ack the halscope.
#******************** # Axis A #******************** [AXIS_A] MAX_VELOCITY = 30.000 MAX_ACCELERATION = 1000.00 [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 = 0.01250 MIN_FERROR = 0.00625 MAX_VELOCITY = 30.000 MAX_ACCELERATION = 1000.00 P = 1000 I = 0.500 D = 0.500 FF0 = 0 FF1 = 20.5 FF2 = 0.35 BIAS = 0 DEADBAND = 0.00015 BACKLASH = .00001 MAX_OUTPUT = 900.0000 SERVO_SCALE = 666.6666666666667 PWMGEN_TYPE = 2 And its now moving 20% faster, DRO now says 1800 degrees/minute, and it settles at about -0.00035 degrees from where its G0 commanded on average. there is about a -0.0005 bias that must be coming from the home command time delays in getting the home switch status, that particular signal is coming in thru a Sainsmart bob, feeding P2 on a 5i25 with its input filtering caps on the bob having been removed. So the switch status is quantized by the servo thread period. With this new computer in might be educational to try a faster servo thread to see if some of that error goes away. And in about an hours playing I did not trigger a single following error. I have no clue what the unit for this error is, the halscope shows it in milivolts about 150 peak at a motion start, cruize settle at a noisy zero, adjusted by for bias with FF1, and FF2 can bury the stop spike in the noise. The start spike might be somewhat reduced by Dgain but I didn't play with that today. Yet. I have a new camera to play with first. And a pepperoni roll to call lunch, and mother nature is throwing big fluffy snow flakes at me. You may not be impressed, but I think I've done quite well for basically building a servo to drive a BS-1 out of cheap, and unrelated ebay parts. Thanks Jon > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users 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 Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
