On 12/08/2016 03:56 PM, Frederic RIBLE wrote: > As we can see a phase compensation circuit in the drive, we assume this > is to compensate for delay on velocity feedback. > So, we have tried to add some delay on the velocity feedback assuming > original F/V converter from the Fanuc control board may be slower than > what we have with Mesa. Not much success: that changes a little the > oscillation period, but we cannot cancel oscillation. No, it is probably FASTER. The Mesa probably is delayed by a ms reading the encoder position, and then another ms sending the DAC output. The circuit used by Fanuc was almost time-continuous except for the encoder positional granularity. It was similar to the ST chip L290, which decoded quadrature state changes into count-up and count-down pulses, and fed them into a pair of analog integrators. These were then fed to a differential summing amp. So, the response to a movement of the encoder came out in some microseconds. > > Anyone knows how we can tune the drive (unfortunately we have not the > documentation for this part number) ? > > You might improve the results by decreasing the period of the servo thread.
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