Z axis Feedrate Change

I am working on a THC hal component. I bascially have a signal from a black box that tells EMC to move up or down. so far everything is working great. The component moves the Z axis up or down in small increments as the box says.

However, I would like to be able to better control the feedrate of the Z Axis. right now, I basically have a running total in a hal component that adds or subtracts a very small amount depending on the signal.

If I make the increment in my Hal Component too large, the control trys to move my Z axis at the same speed as my X and Y are moving, which it physically cannot do. Is there a way I can "decouple" the Z axis feed rate so that to and pass it through the component, so that I can adjust it faster or slower?

Thanks
Brian

Hi John,

I have looked at the THC comp, that is what I based mine on. I am not that experienced of a programmer. Are you saying to basically have an input that will change the increment amount? On the THC comp it would be the correction_vel variable

Thanks

I also customized THC module to fit my waterjet machine.

Now I have the comp compare the actual voltage vs requested voltage. If the difference is big, then correction speed is faster. The principle looks like this:
if (actual - requested)>0,5
then offset = correction velocity * 3

if (actual - requested)<0,5
then offset = correction velocity * 1

Viesturs

andypugh wrote:

viesturs.lacis wrote:

if (actual - requested)>0,5
then offset = correction velocity * 3

if (actual - requested)<0,5
then offset = correction velocity * 1

You could move at a rate proportional to the error, like a PID controller:

offset = correction_gain  * (actual - requested)
if ( offset > max ) offset = max

Actually I tried this approach.
My sensor has ~0,5 sec delay for better accuracy, that is why I either had to set the gain very very low (which resulted in very slow movement) or I got constant overshoots, which is completely unacceptable.
So I came up with this "2 speed" idea.

That is a great idea. the only problem is I am not reading the voltage into the computer. I have a THC controller that basically sends a signal to move up or down.... Maybe I should look into reading the voltage into the computer.