PID SERVO TUNING
- Todd Zuercher
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12 Jul 2017 20:12 #95740
by Todd Zuercher
Replied by Todd Zuercher on topic PID SERVO TUNING
I suspect it might be. Pncconf has had some default settings that do not work with mm configured machines. (At least in the resent past, don't know if they've been corrected.)
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13 Jul 2017 07:49 #95749
by Yannis
Replied by Yannis on topic PID SERVO TUNING
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13 Jul 2017 07:50 #95750
by Yannis
Replied by Yannis on topic PID SERVO TUNING
Hi
the correct files
the correct files
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13 Jul 2017 15:51 #95759
by PCW
Replied by PCW on topic PID SERVO TUNING
At the minimum you should change all the OUTPUT_SCALE numbers to 10
If you change the PID values to 0 do you still get oscillations?
Can you post a halscope plot of the oscillations here?
If you change the PID values to 0 do you still get oscillations?
Can you post a halscope plot of the oscillations here?
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13 Jul 2017 17:05 #95762
by Yannis
Replied by Yannis on topic PID SERVO TUNING
Yes i have oscillation even with 0 P with OUTPUT_SCALE numbers to 10
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13 Jul 2017 17:11 #95763
by Yannis
Replied by Yannis on topic PID SERVO TUNING
i can not load halscope .log because it is not recognized the extension log
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13 Jul 2017 17:44 #95765
by PCW
Replied by PCW on topic PID SERVO TUNING
A HALScope screenshot would probably be better than a log
If the drives oscillate with 0 PID terms that suggests a problem with the drive analog
input wiring or the drive tuning itself
If the drives oscillate with 0 PID terms that suggests a problem with the drive analog
input wiring or the drive tuning itself
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13 Jul 2017 18:26 #95767
by Yannis
Replied by Yannis on topic PID SERVO TUNING
it is something common to control in the same machine some motors in velocity mode and some in torque mode??
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13 Jul 2017 18:33 #95768
by Yannis
Replied by Yannis on topic PID SERVO TUNING
the motor when i enable it with F2 oscillate until the joint go to an error
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13 Jul 2017 18:44 - 13 Jul 2017 18:44 #95769
by PCW
Replied by PCW on topic PID SERVO TUNING
Right so that tends to indicate a drive or wiring issue
If you just enable the drive with the analog inputs disconnected, does it still oscillate?
If you just enable the drive with the analog inputs disconnected, does it still oscillate?
Last edit: 13 Jul 2017 18:44 by PCW.
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