Retrofit Gloria Europa 2/40 machining centre

andypugh wrote: Do you have any FF1 term in the PID? There is a pin to connect the velocity command from HAL to make that work better.

axis.N.joint-vel-cmd => pid.N.command-deriv

Yes i have FF1 = 1.0 in my INI and the pin pid.N.command-deriv is connected.

You are showing a 1mm out-of-position error at the star of a rapid. This will be top limit for the off-of-path error, which will typically be rather smaller. (ie, the tool will be behind the commanded position, but often fairly close to the path despite this)

You might find that the error reduces rapidly with lower accel limits.

Yes I agree, this is obviously the worst situation that will never happen during normal work.
At working speed the error remains below 0.001, the only thing is that I'll have to keep a FERROR value > 1 in the INI file to
avoid errors during rapid, no harm done.

backtime wrote: Yes i have FF1 = 1.0 in my INI and the pin pid.N.command-deriv is connected.

Have you tried different values? 1.0 might be correct, but it does rather depend if the output if the PID is basically in RPM an the Analogue output is scaled to work at that.

FF2 might be worth a try too, to give a hint of accel boost. Start very small.

In the next days I will try to adjust the PID to check the possibility of eliminating the peak in acceleration.
If I can achieve good results I will post the results on the forum.
In combination with lower acceleration values I think of being able to have good results.

Many thanks for your help.

Hi, i am Antonio and write from Italy. Today, me and 4 friends of mine decided to do the same job on two our machines, those are the same as yours.

Hi Antonio, it is a long job but it has given us a lot of satisfaction