open loop servo tuning.

More
7 years 5 months ago #133130 by andypugh
Replied by andypugh on topic open loop servo tuning.
How about the Axis, Joint and TRAJ velocities?

Please Log in or Create an account to join the conversation.

More
7 years 5 months ago #133131 by skvallab
Replied by skvallab on topic open loop servo tuning.
i entering all values of 1 axis which has low velocity below
[traj]
default velocity = 0.167
max_velocity = 100
default acceleration = 30
max acceleration = 500
stepgen maxaccel =750

axis_1

type = angular
home = 0.0
max_velocity = 1005
max_acceleration = 500
pid_max_vel = 1006
backlash = 0.0
scale = 100
output scale = 1
min_limit = -3600
max_limit =3600
ferror = 0.1
min_ferror = 0.2
home offset=0.0
home search vel =0.0
home latch vel = 0.0
home use index = no
home ignore limits = no
deadband = 0.01
p=300
i=100
d=0.1
bias=0.0
ff0=0.0005
ff1=1
ff2=0.0005

Please Log in or Create an account to join the conversation.

More
7 years 5 months ago #133132 by andypugh
Replied by andypugh on topic open loop servo tuning.
Can you attach the actual INI file?

Stepgen limits normally belong in the Axis section. Though the HAL file can, in theory, look anywhere.

And nothing will jog faster than [TRAJ]MAX_VELOCITY

linuxcnc.org/docs/2.7/html/config/ini-config.html#_traj_section
The following user(s) said Thank You: skvallab

Please Log in or Create an account to join the conversation.

More
7 years 5 months ago - 7 years 5 months ago #133133 by skvallab
Replied by skvallab on topic open loop servo tuning.
attaching my ini file

File Attachment:

File Name: univstep_2...5-08.ini
File Size:6.92 KB

File Attachment:

File Name: univstep_2...5-08.ini
File Size:6.92 KB

File Attachment:

File Name: univstep_motion.hal
File Size:1.46 KB

File Attachment:

File Name: univstep_load.hal
File Size:954 B

File Attachment:

File Name: univstep_servo.hal
File Size:2.08 KB

File Attachment:

File Name: univstep_io.hal
File Size:2.29 KB
Last edit: 7 years 5 months ago by skvallab.

Please Log in or Create an account to join the conversation.

More
7 years 5 months ago #133149 by andypugh
Replied by andypugh on topic open loop servo tuning.
You can remove the STEPGEN_MAX_xxx stuff from [TRAJ] as it isn't used with a PPMC config, and the entries don't belong there anyway.
Increasing the PID_MAX_VEL was the way to go.

I suspect that the problem is the [TRAJ]MAX_VELOCITY

You might also try adding a [DISPLAY]MAX_ANGULAR_VELOCITY as the problem might just be that the GUI doesn't let you turn the angular jog rate up that far.
The following user(s) said Thank You: skvallab

Please Log in or Create an account to join the conversation.

More
7 years 5 months ago #133325 by skvallab
Replied by skvallab on topic open loop servo tuning.
[TRAJ]
i dont have anything listed as traj.
but i have a motor mounted on the linear actuator , but their values are not inter related.
should add both the motors in TRAJ section?

Please Log in or Create an account to join the conversation.

Time to create page: 0.266 seconds
Powered by Kunena Forum