On 9/23/23 15:27, andy pugh wrote:
On Sat, 23 Sept 2023 at 13:41, gene heskett <ghesk...@shentel.net> wrote:
MAX_VELOCITY = 360.000
MAX_ACCELERATION = 12000
v^2 = u^2 + 2as
for 360 deg/sec and 12000 accel the overrun on stopping will be v^2 /
2a = 5.4 degrees.
Also it's possible that your PID is limiting the responsiveness, or
the actual velocity.
Try it without the PID?
Never had one for A since the new auto-tuning pid burned up a $125 motor
on the bs-1. So today I set MAX_VELOCITY = 1440 and added another zero
or so to the MAX_ACCELERATION's
With angular jog wide open, it runs just fine at 864000 velocity, looks
like around 40 rpm, and is stopped quite quickly, from an initial
position of around 3000 degrees, I issued a G0 A0, and it stopped
exactly on 0.0000 in well under a second. I love these controllers, they
do exactly what the TP tells them to do. I am about to go see if hanpose
has nema23's above 3nm, and a 34 of about 10, swap the rest of the
steppers out for the servo versions and ditch the PID's The other
machines I've put these motor on are Just Working
So with a printout of the new PID in hand I tried out the autotune acc
the manpage. In mode zero it came up with huge values and I had to
restart linuxcnc to restore my own much more reasonable values, before I
could move Z .1mm w/o a following error. P,I, & D were 6 digit values.
And it never came up with the same values twice in a row.
After restarting lcnc, I could move it by hand from the keyboard ok, but
then the autotune refused to start even though halshow said everything
was set correctly.
If this "thing" works for others, what the heck am I doing wrong?
JK won't pass any pix from me, can I send them by PM?
We seriously need a script, or the Calibrate pulldown made to work with
it, the Calibrate in the 2.10 master is still setup for the old PID. If
I could find its src I'd take a look but I don't grok python that well.
Thanks Andy, take care & stay 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, 1940)
If we desire respect for the law, we must first make the law respectable.
- Louis D. Brandeis
Genes Web page <http://geneslinuxbox.net:6309/>
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