Thank you, that was a great way to tune. I used halcmd from a terminal prompt to tweak the pid parameters. Having the command line history is very convenient.
I had to replace the "o10 while [1]" with "o10 repeat [100]". Axis doesn't like infinite loops! > -----Original Message----- > From: [email protected] [mailto:[email protected]] > Sent: Wednesday, 12 October 2011 1:53 AM > To: andy pugh; Enhanced Machine Controller (EMC) > Subject: Re: [Emc-users] all those who thirst knowledge. > > Chris taught me to tune emc2 axes with motion provided by gcode. > > Set your following error sloppy enough to let your machine run untuned, but > tight enough that if it runs away emc will stop it. Run axis (or your gui of > choice), run halcmd (for interactively setting pid gains), run halscope (for > getting a detailed look at pid and joint behavior), and finally run this > program: > > g91 ; incremental motion > o10 while [1] > g0 x1 ; go an inch right > g4 p1 ; pause for a sec > g0 x-1 ; go an inch left > g4 p1 ; pause for a sec > o10 endwhile > m2 > > > > ----- Reply message ----- > From: "andy pugh" <[email protected]> > Date: Tue, Oct 11, 2011 04:43 > Subject: [Emc-users] all those who thirst knowledge. > To: "Enhanced Machine Controller (EMC)" <emc- > [email protected]> > > On 11 October 2011 07:15, Frank Tkalcevic <[email protected]> > wrote: > > I opened the first pdf and it has an article on pid tuning. It > > suggests applying a square wave command and tuning from that. How > > hard is it to generate a square wave in emc? Will this require hal > > trickery or can it be done with GCode? > > It depends on where you want to generate the square wave, but you could > use either siggen (or just a 50% pwmgen) or a G-code loop driving an > analogue output. > > -- > atp > "Torque wrenches are for the obedience of fools and the guidance of wise > men" > > ------------------------------------------------------------------------------ > All the data continuously generated in your IT infrastructure contains a > definitive record of customers, application performance, security threats, > fraudulent activity and more. Splunk takes this data and makes sense of it. > Business sense. IT sense. Common sense. > http://p.sf.net/sfu/splunk-d2d-oct > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users > ------------------------------------------------------------------------------ > All the data continuously generated in your IT infrastructure contains a > definitive record of customers, application performance, security threats, > fraudulent activity and more. Splunk takes this data and makes sense of it. > Business sense. IT sense. Common sense. > http://p.sf.net/sfu/splunk-d2d-oct > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ All the data continuously generated in your IT infrastructure contains a definitive record of customers, application performance, security threats, fraudulent activity and more. Splunk takes this data and makes sense of it. Business sense. IT sense. Common sense. http://p.sf.net/sfu/splunk-d2d-oct _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
