On Monday 30 May 2016 03:07:14 [email protected] wrote: > 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.
Your .hal file sounds like its missing the connection to bring in the feedback from whatever is measuring the servo. Missing addf for that maybe? > 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 I have seen some recommendations that FF2 s/b servo-thread in seconds. eg a 1 khz servo thread, FF2 s/b = 0.001 However, I only have 2 "servo's", the spindles that are equipted with encoder feedback, and which are a different critter from an axis, and which are quite likely not completely optimized yet. 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> ------------------------------------------------------------------------------ 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
