Pico USC Following Error
- PCW
-
- Away
- Moderator
-
Less
More
- Posts: 18539
- Thank you received: 5084
04 May 2021 16:18 - 04 May 2021 16:19 #207844
by PCW
Replied by PCW on topic Pico USC Following Error
With 3 IPS (180 IPM) max you could have up to 100,000 steps per inch
= 20,000 steps per turn and stay below the 300 K limit.
PID_MAX_VEL = 1.25
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Does this limit your maximum velocity?
= 20,000 steps per turn and stay below the 300 K limit.
PID_MAX_VEL = 1.25
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Does this limit your maximum velocity?
Last edit: 04 May 2021 16:19 by PCW.
Please Log in or Create an account to join the conversation.
- cprhodin
- Offline
- New Member
-
Less
More
- Posts: 19
- Thank you received: 0
05 May 2021 07:19 #207936
by cprhodin
Replied by cprhodin on topic Pico USC Following Error
Somehow I got the impression that PID_MAX_VEL was a multiplier. That explains the limit I was observing. I'll try a larger value tomorrow.
Chris
Chris
Please Log in or Create an account to join the conversation.
- jmelson
- Offline
- Moderator
-
Less
More
- Posts: 817
- Thank you received: 157
05 May 2021 15:45 #207984
by jmelson
In real servos, PID_MAX_VEL gives the PID calculation a little more headroom for when the axis gets behind the programmed velocity, so it has the possibility to catch up.
Jon
Replied by jmelson on topic Pico USC Following Error
Nope. MAX_LINEAR_VELOCITY is the maximum the interpreter will permit, and the trajectory planner will ever ask for.Somehow I got the impression that PID_MAX_VEL was a multiplier. That explains the limit I was observing. I'll try a larger value tomorrow.
Chris
In real servos, PID_MAX_VEL gives the PID calculation a little more headroom for when the axis gets behind the programmed velocity, so it has the possibility to catch up.
Jon
Please Log in or Create an account to join the conversation.
Moderators: PCW, jmelson
Time to create page: 0.083 seconds