Motor Resonance

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31 Dec 2019 17:20 #153618 by CNC32
Replied by CNC32 on topic Motor Resonance
I have just tried to delete only the lines like
setp   pid.X.maxerror .0005
but it still gave me an error. I don't know if that makes any difference but my motors still resonate after I move them in the Pncconf Wizard

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31 Dec 2019 17:22 #153620 by Grotius
Replied by Grotius on topic Motor Resonance
I move the axis and then stop it and it starts to resonate.
It could be a servo drive setting. Can you adjust something like gain?

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31 Dec 2019 17:40 #153624 by CNC32
Replied by CNC32 on topic Motor Resonance
PCW said

The reason the step/dir output is dithering is because you have a P term of 10000
This should normally be 1/servo thread period = 1000

Forgive me for not knowing but what is a P term and where can I adjust it.

To reply to Grotius he siad

It could be a servo drive setting. Can you adjust something like gain?

I don't think this is the issue for one I did not change to servo motor tuning and when I jog the servo motor with the Clearpath software the motos behave exactly as expected and two I did not change anything in the servos when I used mach4 to control them. I think there are some funny step and direction singles going on but I could be wrong.

Thanks for the replies PCW and Grotius!

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31 Dec 2019 17:45 - 31 Dec 2019 17:52 #153625 by PCW
Replied by PCW on topic Motor Resonance
For all joints the P term should be changed to 1000

[JOINT_0]

# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 4.58
STEPGEN_MAXACCEL = 37.50
P = 10000.0
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^


This was probably set wrong because you initially had set a very high servo thread rate instead of the default 1 ms (= 1000000 ns)
Last edit: 31 Dec 2019 17:52 by PCW.

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31 Dec 2019 17:54 #153626 by CNC32
Replied by CNC32 on topic Motor Resonance
Thank you so much PCW! changing the P term to 1000 in the ini file worked! thanks!

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