On Sunday 24 January 2016 16:30:45 Marius Alksnys wrote: > 01/24/2016 04:37 PM, Dave Cole rašė: > > Is the positioning ability adequate? > > I am impressed how strong it holds in position even when fed with DC > current (freq = 0). I can't force it to rotate by hand, while it is > very easy rotating while turned off.
That motors rotor has to be offcenter enough to drag under dc exitation, whereas it should move like it was full of cold molasses. Call a surveyer slow, but dead smooth. As that raises the spot heat from friction at low speeds, I'd want to have a spare on the shelf in case it self destructs. > I did not implement any ramp there yet, just step in PID command for > angle. pid.maximumoutput limits frequency to 1 or 2 rps. > It swings a bit and takes about two seconds to settle. > > I have an idea to use limit3 component in such way: > pos-fb => lim3.in > pos-cmd => lim3.min lim3.max > prepositioning => lim3.load > pos-cmd-limited lim3.out => pid-orient.command Humm, looks useful, but I do not know if a .cmd value could be found that would find a balance point in the .fb from my encoder which is something under a 2 degree accuracy. The brake pin ring however could be loosened and retightened in the right place I'd think. > > It should work as adaptive vel, acc limiter. Adaptive, as it adapts to > real position, not theoretical / commanded one. 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) Genes Web page <http://geneslinuxbox.net:6309/gene> ------------------------------------------------------------------------------ Site24x7 APM Insight: Get Deep Visibility into Application Performance APM + Mobile APM + RUM: Monitor 3 App instances at just $35/Month Monitor end-to-end web transactions and take corrective actions now Troubleshoot faster and improve end-user experience. Signup Now! http://pubads.g.doubleclick.net/gampad/clk?id=267308311&iu=/4140 _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
