--- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@...> wrote:
>
> Hi Chris,
>
> Ah, I see a major problem.  On the Filter Screen all the IIR Filter coefficients are set to 1.  Only the B0 parameters should be set to 1 and the rest set to 0 to have no effect.  There is a "Clear" button that will do this for you.  Push it for each of the 3 filters.
>
> Also change your Max Error from only 1 count to about 200 counts
>
> Change your Max Integrator from 1 count to about 200 counts
>
> Set your I and D gains to 0
>
> (Minor note if you save the screens as .png files rather than .bmp they will be much smaller)
>
> Thanks
> TK
>
>
>
>
> ________________________________
> From: dunncl66 <dunncl66@...>
> To: DynoMotion@yahoogroups.com
> Sent: Sun, March 28, 2010 4:37:27 PM
> Subject: [DynoMotion] Re: A Move will hold postion and then ...........
>
>  
> Tom â€" thanks for the help. We are gaining on it. The Step/Response chart is looking more like I think it should however the table still moves the number of counts in the max following error box and not what's in the step/move boxes on the step response screen. I added some screen shots of screens. Again thanks for the help.
>
>
> Config Screen
> http://groups. yahoo.com/ group/DynoMotion /photos/album/ 702787330/ pic/1750524384/ view?picmode= &mode=tn& order=ordinal& start=1&count= 20&dir=asc
>
> Step Response Screen
> http://groups. yahoo.com/ group/DynoMotion /photos/album/ 702787330/ pic/1750524384/ view?picmode= &mode=tn& order=ordinal& start=1&count= 20&dir=asc
>
> Filters
> http://groups. yahoo.com/ group/DynoMotion /photos/album/ 702787330/ pic/1750524384/ view?picmode= &mode=tn& order=ordinal& start=1&count= 20&dir=asc
>
> Chris
>
> --- In DynoMotion@yahoogro ups.com, Tom Kerekes <tk@> wrote:
> >
> > Hi Chris,
> >
> > Notice how the red and the blue plots go opposite directions?  This is most likely because you have positive feedback instead of negative feedback.  Proper negative feedback will drive the motor (red line) toward the blue line and as the error gets smaller the driving force will reduce.  Positive feedback is the opposite.  As soon as we have any small error, the motor will be driven the wrong way and increase the error.  This in turn will increase the error and drive the motor even harder the wrong way in a snowball effect until the Max Following Error eventually disables the axis.
> >
> > You may change a positive feedback loop to a negative feedback loop by reversing anything in the loop, either mechanically, electrically, or in software.  On the configuration screen change the InputGain0 parameter to -1 to reverse the direction the encoder will count and see if that helps.
> >
> > The blue plot of commanded position is very small and going negative.  Do you have a number like -1 entered as the "size" parameter for the move?  It's better to start with a moderate move more like +100 encoder counts.
> >
> > One way that I capture screens is to use the Alt-Prtsc button on the keyboard.  That will copy the current screen to the clipboard, then I usually paste it into the Paint program and save it to a file as a .png file.  It would help for you to include screen shots of the Step Response, Configuration/ Flash, and Filter Screens so we can see what settings you have.
> >
> > Also if you enable the "Output" checkbox on the Step Response Screen there will be an additional Green plot showing exactly what the motor (DAC Output) is being commanded to do.
> >
> > Hang in there.  The good news is that it appears the DAC is driving your motor, and the encoder is measuring position correctly.
> >
> > Thanks
> > TK
> >
> >
> >
> >
> > ____________ _________ _________ __
> > From: dunncl66 <dunncl66@ .>
> > To: DynoMotion@yahoogro ups.com
> > Sent: Sun, March 28, 2010 1:55:27 PM
> > Subject: [DynoMotion] Re: A Move will hold postion and then ...........
> >
> >  
> > Thanks for the help Tom. I did as you suggested and posted a couple pictures of the Step Response graphs. I noticed that the Position graph (red one) is still moving the maximum following error value. The command graph looked essentially flat when the two graphs were overlaid on one another. When the Command is charted by itself I noticed the y axis scale was very small. The position is moving 2200 counts but the command is going from 1 to 0.9963. Below is the link to the pictures. Any ideas what I got going on?
> >
> > Position Output:
> >
> > http://groups. yahoo.com/ group/DynoMotion /photos/album/ 702787330/ pic/1725678935/ view?picmode= &mode=tn& order=ordinal& start=1&count= 20&dir=asc
> >
> > Command Output
> >
> > http://groups. yahoo.com/ group/DynoMotion /photos/album/ 702787330/ pic/575927094/ view?picmode= &mode=tn& order=ordinal& start=1&count= 20&dir=asc
> >
> > Thanks again for the help!
> > Chris
> >
> > --- In DynoMotion@yahoogro ups.com, Tom Kerekes <tk@> wrote:
> > >
> > > Hi Chris,
> > >
> > > The system is supposed to stop (axis disabled) when the difference between the Command and the measured Encoder Position becomes greater than the allowed Max Following Error.   Normally when the system is operating properly the following errors should be small, so the Max Following Error can be set to a value slightly larger than the worst case normal error.  So then if most anything bad happens the error will grow large, trigger the Max Following error, and disable the axis.  A message will appear on the console when this happens.
> > >
> > > On the Step Response Screen select the plot type: Command, Position, Output vs Time and make sure the Command and Position are checked.  When you make the Move the blue plot will show the Commanded trajectory, and the red plot will show the measured Position.  Does the red plot somewhat follow the blue plot?  Does the red plot show a flat line?  A flat line would indicate the encoder was simply not working.
> > >
> > > Regards
> > > TK
> > >
> > >
> > > ____________ _________ _________ __
> > > From: dunncl66 <dunncl66@ .>
> > > To: DynoMotion@yahoogro ups.com
> > > Sent: Sat, March 27, 2010 4:32:51 PM
> > > Subject: [DynoMotion] A Move will hold postion and then ...........
> > >
> > >  
> > > The Manual says "A Move will hold position for a short time, perform a motion of the specified amount from the current location, pause for a short time, and then a second motion back to the original location."
> > >
> > > When I hit the move button, the system moves the maximum following error setting and then stops. It seems the size box in the step and responce screen has not affect on the table motion. I can change that number to any value but the table translates the same distance each time. It move the maximum error following counts. Any idea what I am missing.
> > >
> > > Chris
> > >
> >
>