- Configuring LinuxCNC
- Advanced Configuration
- Servo position control with speed and torque feedforward
Servo position control with speed and torque feedforward
- johnbl
- Offline
- Senior Member
-
Less
More
- Posts: 40
- Thank you received: 3
19 Sep 2020 16:48 - 19 Sep 2020 16:49 #182760
by johnbl
Servo position control with speed and torque feedforward was created by johnbl
Hi,
Yaskawa servopacks have inputs for speed and torque feedforward (analog 0-10V) when controlled in position mode, which look useful for fine-tuning the servos with aggressive moves.
Are the joint-vel-cmd and joint-acc-cmd the appropriate HAL pins to feed these inputs? Do they need to be scaled by a fixed value or go through an extra PID loop?
Yaskawa servopacks have inputs for speed and torque feedforward (analog 0-10V) when controlled in position mode, which look useful for fine-tuning the servos with aggressive moves.
Are the joint-vel-cmd and joint-acc-cmd the appropriate HAL pins to feed these inputs? Do they need to be scaled by a fixed value or go through an extra PID loop?
Last edit: 19 Sep 2020 16:49 by johnbl.
Please Log in or Create an account to join the conversation.
- andypugh
-
- Offline
- Moderator
-
Less
More
- Posts: 23323
- Thank you received: 4948
02 Oct 2020 11:20 #184557
by andypugh
Replied by andypugh on topic Servo position control with speed and torque feedforward
They are feedforward to a PID loop inside the drive, so another PID is unnecessary.
Both will need a fixed scaling, assuming that the inputs are analogue voltage too, rather than engineering units. Though whether this scaling is done in the drive or in LinuxCNC might be a choice you need to make.
I think that I would scale in LinuxCNC for easier online tuning.
Both will need a fixed scaling, assuming that the inputs are analogue voltage too, rather than engineering units. Though whether this scaling is done in the drive or in LinuxCNC might be a choice you need to make.
I think that I would scale in LinuxCNC for easier online tuning.
The following user(s) said Thank You: johnbl
Please Log in or Create an account to join the conversation.
- Configuring LinuxCNC
- Advanced Configuration
- Servo position control with speed and torque feedforward
Time to create page: 0.156 seconds