Brother TC-225 / TC-229 adventure!

Doh it's in one of the screen grabs.

P 150
I .02
D .2

Ff0 0
Ff1 .87
Ff2 .00105

Bias 0
Dead band. 00001

I think I would try reducing P to about 100 and setting I and D to 0. See if that gets a mostly smooth velocity plot. Then fine tune FF1 and FF2 to minimize the following error. Once there, then you should be able to add back some more P to try to stiffen things up.

nope. no combination of settings smooths it. even p at some low number like 10 doesn't. it just makes bigger oscilations.

the biggest factor in getting the z for squealing to just short oscillations, was deadband. I kept making it smaller, and it got better. but there seems to be a limit, and basically, all 3 axes are roughly behaving the same right now.

I think there may be something deeper wrong here. the whole analogue output mimicking the follow error, seems weird to me.

hmmmm

so, any more thoughts? haha.

ive recovered from the novocaine haze, and would like to try and get further on tuning tonight.

how would i make the motor just move smoothly, disregarding error?

is that p=0, ff1=1?

basically saying move at x velocity, but dont attempt to compensate kinda like open an loop.

thanks

You would not use FF1= 1, you would use the value you determined from tuning

(you can also use a very small amount of P to prevent drift for this test)

(FF1 _would_ be 1 if you set the analog output scale to the velocity in machine units per second at 10V)