PID SERVO TUNING

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9 years 3 months ago #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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9 years 3 months ago #95749 by Yannis
Replied by Yannis on topic PID SERVO TUNING

Attachment not found

Attachment not found

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9 years 3 months ago #95750 by Yannis
Replied by Yannis on topic PID SERVO TUNING
Hi
the correct files

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9 years 3 months ago #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?

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9 years 3 months ago #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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9 years 3 months ago #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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9 years 3 months ago #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

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9 years 3 months ago #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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9 years 3 months ago #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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9 years 3 months ago #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?

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