Greetings all; As most of you know, I built a servo from scratch for a BS-1.
But I am not at all happy with its performance. It is a motor with a worm output, driving the worm of the bs-1. And it has an A/B quad encoder in it. But I must rather severely limit its run speed because the PID doesn't see the null coming near fast enough to slow it and stop a couple arcseconds early. I can't allow it to use reverse to stop as the motor seems to be a near short circuit then, crowbarring the power supply, causing a 2 to 3 minute dead time for the 450 watt psu to cool, so I must limit its speed to disallow its use of reverse to accomplish the stop. With 2 worms in series the scale for a 360 degree full turn is of coarse huge. If it could be throttled to a gradual stop by anticipating the coming null, I could probably run it 2 to 4x faster for a cruising speed. So my question is, which of the pid inputs would if raised, better anticipate the approaching null, slowing it over the last 5 angular minutes of a turn, ideally to a stop within an arc-second of the command from the gcode? Thanks all. 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
