Hi all, Hoping some people that have tuned their servos with EMC2 might be able to share some of their insights that they learned during their tuning with me. I built a pick and place machine with a servo on the X axis and I started running tests to tune the PID loop for the servo. Right now, I have everything set to zero, a deadband set to 0.00001 and I am adjusting the Pgain to find the optimal Pgain before I start varying the other parameters.
The test I am using is to start from a standstill at X=0, move to X = 8 inches with an acceleration of 25in/sec^2 and a maximum velocity of 9in/sec, come to a full stop and wait for 0.5 seconds, then reverse back to X=0 with the same acceleration profile. I tried different Pgain values of 4, 8, 10, 12, 13, and 14 to see what the error looked like. at Pgain of 16 the machine began oscillating badly. I've attached a link to an image of the screenshots i took from hal scope for the different Pgains that I tried. To my inexperienced eye, it looks like Pgain 12 is the best, but I'm not sure if the error graphs are even supposed to look like this. http://i.imgur.com/hefCf.png If anyone can tell me if these error graphs look normal or not, I'd appreciate it! Thanks Lawrence ------------------------------------------------------------------------------ Download Intel® Parallel Studio Eval Try the new software tools for yourself. Speed compiling, find bugs proactively, and fine-tune applications for parallel performance. See why Intel Parallel Studio got high marks during beta. http://p.sf.net/sfu/intel-sw-dev _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
