Mori MVJR Build Log
15 Nov 2011 06:34 #14821
by schmidtmotorworks
Replied by schmidtmotorworks on topic Re:Mori MVJR Build Log
Thanks to everyone's help I made a screen capture of my HALScope,
I never thought I would get this far.
Here is the program I was running
I tried MAX ACCELERATION from 5 up to 50, 50 seemed a lot more like how the machine ran with the old control but the pid error was much worse. I wasn't able to tune it out (but didn't try very long)
Some things stick out.
1. There seems to be sort of a "buzzing" to the motion, not severe though.
2. pid error shows some kind of activity all the time, even sitting still.
3. motor-pos-cmd, I was wondering if the middle of the curve should dip down to the same level as the ends.
4. f-error the scale is 5m/div, but I don't know what "m" is maybe it means 0.005"?
I never thought I would get this far.
Here is the program I was running
G20 G40 G90 G17 G91.1
O1 REPEAT[2]
G0 X4
G0 X0
O1 ENDREPEAT
M02I tried MAX ACCELERATION from 5 up to 50, 50 seemed a lot more like how the machine ran with the old control but the pid error was much worse. I wasn't able to tune it out (but didn't try very long)
Some things stick out.
1. There seems to be sort of a "buzzing" to the motion, not severe though.
2. pid error shows some kind of activity all the time, even sitting still.
3. motor-pos-cmd, I was wondering if the middle of the curve should dip down to the same level as the ends.
4. f-error the scale is 5m/div, but I don't know what "m" is maybe it means 0.005"?
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16 Nov 2011 06:08 - 16 Nov 2011 06:20 #14854
by schmidtmotorworks
Replied by schmidtmotorworks on topic Re:Mori MVJR Build Log
I did all the suggested tests and will post the results over a few posts:
I think i was able to keep all the scales the same today but the are different than yesterday.
The PID error seems to have smoothed out after running it at 100 accel for a while, I don't think I changed anything else..
I have to say it it really great to be able to do this, with my old control, I don't think this was possible.
1. I put a scale on the machine and saw that at MAX ACCELERATION = 20
a program going from 0.0 to 4.0 repeating 4 times it would come about 0.5 short of 4.0 but stop 0.750 short of 0.0.
2. I increased acceleration in steps finally up to 100, now it goes all the way to 4.0 and close to 0.0 but still short maybe 0.3.
This is the INI
Here is the graph with
MAX ACCELERATION =100
FF1=0.9 (set in calibration)
I think i was able to keep all the scales the same today but the are different than yesterday.
The PID error seems to have smoothed out after running it at 100 accel for a while, I don't think I changed anything else..
I have to say it it really great to be able to do this, with my old control, I don't think this was possible.
1. I put a scale on the machine and saw that at MAX ACCELERATION = 20
a program going from 0.0 to 4.0 repeating 4 times it would come about 0.5 short of 4.0 but stop 0.750 short of 0.0.
2. I increased acceleration in steps finally up to 100, now it goes all the way to 4.0 and close to 0.0 but still short maybe 0.3.
This is the INI
[AXIS_0]
TYPE = LINEAR
MAX_VELOCITY = 9.842
MAX_ACCELERATION = 100
BACKLASH = 0.000
#FERROR = .5
#MIN_FERROR = .5
FERROR = 9999999999
MIN_FERROR = 9999999999
INPUT_SCALE = -25400
OUTPUT_SCALE = 11.81
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 11.81
#MIN_LIMIT = -22
#MAX_LIMIT = 0
MIN_LIMIT = -22000
MAX_LIMIT = 22000
HOME = 0
HOME_OFFSET = 0.04
HOME_SEARCH_VEL = 0.50
HOME_LATCH_VEL = -0.10
HOME_USE_INDEX = no
HOME_IGNORE_LIMITS = no
# PID tuning params
#DEADBAND = 0.000015
DEADBAND = 0.000015
P = 140
I = 0
D = 1.8
FF0 = 0.0005
FF1 = 1
FF2 = 0.00012
BIAS = 0Here is the graph with
MAX ACCELERATION =100
FF1=0.9 (set in calibration)
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16 Nov 2011 06:11 #14855
by schmidtmotorworks
Replied by schmidtmotorworks on topic Re:Mori MVJR Build Log
Here is the graph with 0.1 second pauses
MAX ACCELERATION =100
FF1 = 1
MAX ACCELERATION =100
FF1 = 1
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16 Nov 2011 06:12 #14856
by schmidtmotorworks
Replied by schmidtmotorworks on topic Re:Mori MVJR Build Log
Here is Here is the graph with
MAX ACCELERATION =100
FF1 = 0.8
MAX ACCELERATION =100
FF1 = 0.8
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16 Nov 2011 06:13 #14857
by schmidtmotorworks
Replied by schmidtmotorworks on topic Re:Mori MVJR Build Log
Here is Here is Here is the graph with
MAX ACCELERATION =100
FF1 = 1.1
MAX ACCELERATION =100
FF1 = 1.1
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16 Nov 2011 06:14 #14858
by schmidtmotorworks
Replied by schmidtmotorworks on topic Re:Mori MVJR Build Log
Here is the graph with
MAX ACCELERATION =100
FF1 = 1.2
MAX ACCELERATION =100
FF1 = 1.2
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