On Wednesday 03 March 2021 22:17:35 John Dammeyer wrote: > > -----Original Message----- > > From: Gene Heskett [mailto:ghesk...@shentel.net] > > Sent: March-03-21 6:40 PM > > To: emc-users@lists.sourceforge.net > > Subject: Re: [Emc-users] Following Error Joint 2 > > > > On Wednesday 03 March 2021 20:18:44 Gene Heskett wrote: > > > On Wednesday 03 March 2021 19:42:25 John Dammeyer wrote: > > > > I made another video with the new 3D printed pulley. Much > > > > better balanced as I made the inner hole and outside hub thicker > > > > and then bored and turned it to the correct diameter and > > > > concentric with each What I don't understand is why extra weight > > > > made it show up. The AC Servo Drive is not showing an error and > > > > motor current rarely goes above 3.5A at 220VAC or about 770W. > > > > > > Put the halscope on it, trigger on the home switch, and watch the > > > control, fb, and error sigs. > > > > > > Adjust FF1 for zero error while its cruising, I think it will be > > > higher than 1.0 Small amounts of FF2 and gain should be > > > investigated. > > > > That should have said "Dgain". > > The Following Error shows up a long way from the home switch. It's > the PageDown key for moving the Knee closer to the spindle that does > it. And flipping between the up/down keys with short knee movements > with the 120 lbs on the table caused the issues. > > Recall this is open loop motion with no feedback from the servo other > than if the servo faults which it doesn't. So weight shouldn't > matter. Should it? I removed the fault output from the servo drive > so it can't fault the system. > > The comment on the link about Ethernet latency is what interested me. > Again if electrical noise causes retries or delays in the Ethernet > signalling then that could cause this sort of error under heavy load. > > John
And this is what the high frequency gains do, FF2 and Dgain, giving a boost when the velocity changes. All this assumes that the actual power available is sufficient to achieve what the controller is asked to make it do. If the available power sags with the initial accell but the speed being asked is so high the power available cannot catch it up and is limiting you then following errors creep into long distance moves. Currently, my plaything is down for mods, like a new cam to switch the home switch. I made a ring out of PETG that is about .4mm smaller than the flange diameter of this BS-1, to replace the narrow notch I cut in the flange for a home switch, and which it will sail right on by at search vels above 4 degrees a second. So now, when I get this mod finished, waiting the rest of the night for goop to set, but I may remake the cam thinner because a trial switch position shows its too thick, it 5mm thick and 2 will work the switch, leaving much more real estate to glue the switch to. Take care John. 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
