On Friday 05 March 2021 18:59:19 John Dammeyer wrote: > net a-index-enable <=> pid.a.index-enable > net a-enable => pid.a.enable > net a-pos-cmd => pid.a.command > #net a-vel-cmd => pid.a.command-deriv > net a-pos-fb => pid.a.feedback > net a-output => pid.a.output
So this is a position servo. Very similar to mine currently. I have an idb module which does an Inverse Dead Band between a-output and the pwmgen.value, with the amount at 9.5, about 2 short of making it hunt. That idb gives an offset in the currant value according to the direction, which helps to cancel the brush and bearing friction. The pwmgen is still pinging the driver about 7% when the motor has stopped. From either direction. I need to set the DEADBAND accordingly, as the idb module, when in balance would then shut the pwm off completely. That's the theory anyway. Thanks John D. Stay safe and well. 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
