How to handle servo drives with built-in PID ?

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westveld
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04 Feb 2014 22:32 - 04 Feb 2014 22:34 #43543 by westveld

How to handle servo drives with built-in PID ? was created by westveld

First off - these Mesa card and PnCConf are brilliant!

When we have drives with their own PID settings, do we want to disable the PID in LinuxCNC?
Or disable the PID on the drives? Something else?

I'm testing with one axis. I have a Mesa 5i25 / 7i77 combo.
The machine uses old Osai A/B OSS-200 Digital brushless servo drives.
We can configure/monitor them with a serial connection.

The C axis that I'm starting with shows:

 Scale  299.9 RPM/V      P GAIN      90
 Offset   0.0000  V      I GAIN      33
 Peak I    15.9 AMP      D GAIN       0
 Overspeed 3495 RPM      Mode(1):  Velocity
 Filter BW  OFF  Hz      Monitor-ABS I

Thanks!

Matt Westveld

Last edit: 04 Feb 2014 22:34 by westveld.

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PCW
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04 Feb 2014 22:47 #43544 by PCW

Replied by PCW on topic How to handle servo drives with built-in PID ?

For velocity mode drives (and you have that drive set in velocity mode),
Part of the PID loop is run in the drive and part in Linuxcnc

The driver runs the velocity PI loop and Linuxcnc runs a position
loop with mainly P and FF1

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westveld
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04 Feb 2014 22:52 #43545 by westveld

Replied by westveld on topic How to handle servo drives with built-in PID ?

Ah, that makes sense, thanks!

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