Retrofit Gloria Europa 2/40 machining centre
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.
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.
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.