So I never did get to tuning the PID for the 7i92, now that other things are working sensibly, this is next on my list.
So I tried to follow: http://gnipsel.com/linuxcnc/tuning/servo.html Plotted .ferror, .joint-vel-cmd, .motor-pos-fb I see the .joint-vel-cmd, but .motor-pos-fb never moves from 0, even if the scale is tiny. Axis move just as intended. .ferror is just noise under 10u. Looks like quanitization noise. Am I missing something? Is there a different procedure for the unique 7i92 PID loops? 1KHz servo thread, and: # PID tuning params DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 =0.00013 BIAS = 0 MAX_OUTPUT =0 MAX_ERROR =0.0005 Danny ------------------------------------------------------------------------------ What NetFlow Analyzer can do for you? Monitors network bandwidth and traffic patterns at an interface-level. Reveals which users, apps, and protocols are consuming the most bandwidth. Provides multi-vendor support for NetFlow, J-Flow, sFlow and other flows. Make informed decisions using capacity planning reports. https://ad.doubleclick.net/ddm/clk/305295220;132659582;e _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
