--- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@...> wrote:
>
> Hi Art,
>
> Try increasing the max integrator from 200 to 2047 as it looks like we need
> about 600 DAC counts to go at a speed of 100000 cnts/sec.
>
> But there is something asymmetrical happening as well.
>
> TK
>
>
>
>
> ________________________________
> From: "aeunson@..." <aeunson@...>
> To: DynoMotion@yahoogroups.com
> Sent: Tue, September 28, 2010 1:21:19 PM
> Subject: [DynoMotion] Re: Kflop / Kanalog
>
>  
> Thanks Tom
>
> I see that now you have explained it.
>
> I have changed the paramaters as suggested and tried tuning the system.
>
> To get the command and position to track I have increased the p gain to 1.2,
> this allows me to make a move upto 10000 before the output starts to distort.
>
> Above 10000 the output on the return starts to distort so I then increased the
> feed forward V to 0.003. this let me increase the move to 90000 before the
> output distorts.
>
> I then tried to increase the velocity but the output starts to distort again.
>
> The x axis is 800mm and the movement still seems quite slow.
>
> I am not sure if I am changing the correct parameters can you please advise.
>
> I have uploaded some screenshots
>
> Regards
>
> Art
>
> --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> >
> > Hi Art,
> >
> > Your Jerk setting is extremely low.
> >
> > With a Jerk limit of only 3000 cnts/sec^3 and a max acceleration of 175542
> > cnts/sec^2 it would take:
> >
> > 175542/3000 = 58 seconds
> >
> > before the acceleration would ramp up to the maximum you are specifying. 
> >Mach3
> >
> > has no Jerk limit, it applies the full acceleration you specify instantly.  So
> >
> > to see a similar motion that equates to what Mach3 is generating, set the Jerk
>
> > to a much bigger number like 2e7.  Then the acceleration will be fully applied
> >
> > in a few milliseconds:
> >
> > 175542/20000000 = 0.008 seconds.
> >
> >
> > There is also a mistake with the velocity.  Mach3 specifies the max velocity
> >per
> >
> > minute rather than per second so the velocity in counts/sec would be 48761
> > rather than 2925700.
> >
> >
> > After you make these two corrections the motion on the Step Response screen
> >will
> >
> > be much faster and you will probably see larger following errors.  You will
> >then
> >
> > be able to tune the system and determine the real limitations of your system.
> >
> > Regards
> > TK
> >
> >
> >
> >
> > ________________________________
> > From: "aeunson@" <aeunson@>
> > To: DynoMotion@yahoogroups.com
> > Sent: Mon, September 27, 2010 3:09:52 PM
> > Subject: [DynoMotion] Re: Kflop / Kanalog
> >
> >  
> > Tom
> >
> > I have uploaded the mach motor tuning screenshot and the kmotion screen shot.
> >
> > The servo with linear actuator connected is 7mm / motor rev. the resolution is
>
> > 4096 per rev.
> >
> > If the velocity in mach is any more than 5000 I get a follower error.
> > At 5000 the movement of the table is quite slow but accurate.
> >
> > I also converted the mach figures as advised and ran them in kmotion where the
>
> > table seemed to move even slower.
> >
> > Please advise where you think I have gone wrong.
> >
> > Regards
> >
> > Art
> >
> > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > >
> > > Art,
> > >
> > > Well you need to test the motion on the Step Response Screen for the same
> >type
> >
> >
> > > of motion you are attempting under Mach3 to see a respective response. 
> >For
> >
> > > example making a small/slow move from the Step Response screen may show small
> >
> > > following errors, but a large, faster, higher acceleration move under Mach3
> >may
> >
> > >
> > > have large following errors. 
> > >
> > > #1 What Velocity and Acceleration do you have Mach3 "Tuning" Set at?
> > >
> > > #2 What following error setting are you using?
> > >
> > > #3 Mach3 motions are not Jerk Limited so set the KMotion Jerk value 100X
> >the
> >
> > > acceleration value to see a similar motion.
> > >
> > > #4 convert the Mach3 Vel and Accel values to encoder counts (multiply by
> >counts
> >
> > >
> > > per mm)
> > >
> > > #5 plot a 90mm motion (Command, Position, Output)
> > >
> > > TK
> > >
> > >
> > >
> > >
> > >
> > >
> > > ________________________________
> > > From: "aeunson@" <aeunson@>
> > > To: DynoMotion@yahoogroups.com
> > > Sent: Mon, September 27, 2010 1:05:52 PM
> > > Subject: [DynoMotion] Re: Kflop / Kanalog
> > >
> > >  
> > >
> > > Tom,
> > >
> > > There is the message in the console "Following error 0 axis disabled
> > >
> > > I did tune them in the response screen before running Mach a few weeks ago.
> > >
> > > Regards
> > >
> > > Art
> > > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > > >
> > > > Hi Art,
> > > >
> > > > Is there a message in the KMotion Console screen such as "Following
> > >error..."?
> > > >
> > > > Before attempting to use Mach3 you should tune the motors using the KMotion
> >
> > > >Step
> > > >
> > > > Response Screen and verify that you can make moves at your needed speeds
> >and
> >
> >
> > > > accuracies.ÃÆ'‚  What are your following errors for a 45mm move?
> > > >
> > > > Regards
> > > > TKÃÆ'‚ 
> > > >
> > > >
> > > >
> > > >
> > > > ________________________________
> > > > From: "aeunson@" <aeunson@>
> > > > To: DynoMotion@yahoogroups.com
> > > > Sent: Mon, September 27, 2010 10:56:07 AM
> > > > Subject: [DynoMotion] Re: Kflop / Kanalog
> > > >
> > > > ÃÆ'‚ 
> > > > Hi Tom
> > > >
> > > > I have finaly managed to get some time on the router.
> > > >
> > > > I have the x & y axis connected and the motor tuning all set up so that I
> >can
> >
> > >
> > > > accurately drive the table in Mach a set amount but if I try and drive it
> > > > anymore than 45mm at a time the table stops and I get this message:
> > >"dynamotion
> > >
> > > >
> > > > status all axes disabled"
> > > >
> > > > Any idea where I have gone wrong?
> > > >
> > > > Art
> > > >
> > > > --- In DynoMotion@yahoogroups.com, "aeunson@" <aeunson@> wrote:
> > > > >
> > > > >
> > > > > Hi Tom,
> > > > >
> > > > > I realised that just before going to bed last night and all is working
> > >well.
> > > > >
> > > > > However I did have to set steps per to 322.5 to get the DRO to read
> > >correctly
> > >
> > > >
> > > > >as it was reading low with the calculated value.
> > > > >
> > > > > I think I can now wait untill I fully complete the machine before I take
>
> > >this
> > >
> > > >
> > > > >any further when I will probably be back with lots of questions.
> > > > >
> > > > > Once I get it up and running I will post a video of it running but this
> > >will
> > >
> > > >be
> > > >
> > > > >a few weeks
> > > > >
> > > > > Thanks for yor help. You certainly support your product well.
> > > > >
> > > > > Best regards
> > > > >
> > > > > Art
> > > > >
> > > > > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > > > > >
> > > > > > Hi Art,
> > > > > >
> > > > > > No.ÃÆ'Æ'‚ÃÆ'‚  In KMotion everything is in
> >counts.ÃÆ'Æ'‚ÃÆ'‚  You would
> >
> > >change Mach3
> > >
> > > >"Motor
> > > >
> > > > > > Tuning".ÃÆ'Æ'‚ÃÆ'‚  Since you work in mm.ÃÆ'Æ'‚ÃÆ'‚ 
> >The number of counts/mm
> >
> > >would be:
> > > > > >
> > > > > > 4096*2/25.4=322.5196 counts/mm
> > > > > >
> > > > > > Regards
> > > > > > TK
> > > > > >
> > > > > >
> > > > > >
> > > > > >
> > > > > > ________________________________
> > > > > > From: "aeunson@" <aeunson@>
> > > > > > To: DynoMotion@yahoogroups.com
> > > > > > Sent: Fri, August 13, 2010 4:50:05 PM
> > > > > > Subject: [DynoMotion] Re: Kflop / Kanalog
> > > > > >
> > > > > > ÃÆ'Æ'‚ÃÆ'‚ 
> > > > > >
> > > > > > Hi Tom,
> > > > > >
> > > > > > This motor is conected to a ballscrew which is 2 turns to the inch.
> > > > > >
> > > > > > Do I change this in kmotion and re-write the c prog?
> > > > > >
> > > > > > Regards
> > > > > >
> > > > > > Art
> > > > > > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > > > > > >
> > > > > > > Hi Arthur,
> > > > > > >
> > > > > > > I don't see anything specifically wrong in the Mach3Mill.xml
> > > >file.ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚  It
> > > >
> > > > >seems
> > > > >
> > > > > > >to
> > > > > > >
> > > > > > > work for me.ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚  Apparently
> >Mach3 has an issue where it
> >
> > >saves the
> > >
> > > >XML file
> > > >
> > > > >into
> > > > >
> > > > > > > whatever the current directory is when you exit which I think can
> > >result
> > >
> > > >in
> > > >
> > > > >
> > > > > > >lost
> > > > > > >
> > > > > > > changes and confusion.ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚  Also
> >sometimes the units
> >
> > >inexplicably
> > >
> > > >change
> > > >
> > > > >from
> > > > >
> > > > > > >inches
> > > > > > >
> > > > > > > to mm mode, so check if somehow your base units somehow got switched
> >to
> >
> > >
> > > > mm.
> > > > > > >
> > > > > > > Maybe check what feed rate you specified?
> > > > > > >
> > > > > > > I see you set the resolution to 4096 which is the number of encoder
> > > > > > >counts/motor
> > > > > > >
> > > > > > > rev.ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚  Usually mills have a
> >lead screw with about 5
> >
> > >turns/inch so
> > >
> > > >the
> > > >
> > > > >correct
> > > > >
> > > > > > > value would probably be more like 5x4096.
> > > > > > >
> > > > > > > Let us know how it goes and thanks for participating in the Group.
> > > > > > >
> > > > > > > TK
> > > > > > >
> > > > > > >
> > > > > > >
> > > > > > >
> > > > > > > ________________________________
> > > > > > > From: "aeunson@" <aeunson@>
> > > > > > > To: DynoMotion@yahoogroups.com
> > > > > > > Sent: Fri, August 13, 2010 8:26:29 AM
> > > > > > > Subject: [DynoMotion] Re: Kflop / Kanalog
> > > > > > >
> > > > > > > ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ 
> > > > > > > Hi Tom
> > > > > > >
> > > > > > > I have it working.
> > > > > > > Given a G0 x200 it will drive to 200. G0 x100 it will return to 100
> >and
> >
> > >
> > > >G0
> > > >
> > > > >x0
> > > > >
> > > > > > >it
> > > > > > >
> > > > > > > returns to zero.
> > > > > > > G1 & G2 are very very slow.
> > > > > > >
> > > > > > > But it is slow so I posted the xml file into the files section to see
> >
> > > >where
> > > >
> > > > >I
> > > > >
> > > > > > > have gone wrong.
> > > > > > >
> > > > > > > All the motors are the same but the x & y axis are different gearing
> >so
> >
> > >I
> > >
> > > >
> > > > > > >should
> > > > > > >
> > > > > > > be able to figure them out now.
> > > > > > >
> > > > > > > It going to be a couple of weeks before I get working on the full
> >table
> >
> > >
> > > >but
> > > >
> > > > >I
> > > > >
> > > > > > >am
> > > > > > >
> > > > > > > very pleased I can now drive a single motor with mach3 and prove it
> > >will
> > >
> > >
> > > > >work.
> > > > > > >
> > > > > > > Regards
> > > > > > >
> > > > > > > Arthur
> > > > > > >
> > > > > > > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > > > > > > >
> > > > > > > > Hi Arthur,
> > > > > > > >
> > > > > > > >
> >Strange.ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'¢ÃÆ'¢â€šÂ¬ÃÆ'…¡ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ 
> > What about a G1 or
> >
> > >G2 move of for example
> > >
> > > >1 inch?
> > > > > > > >
> > > > > > > > What is your Mach3 Motor Tuning - Resolution, Vel, Accel, Units?
> > > > > > > >
> > > > > > > > Maybe you should send your Mach3 XML file.
> > > > > > > >
> > > > > > > > TK
> > > > > > > >
> > > > > > > >
> > > > > > > >
> > > > > > > >
> > > > > > > > ________________________________
> > > > > > > > From: "aeunson@" <aeunson@>
> > > > > > > > To: DynoMotion@yahoogroups.com
> > > > > > > > Sent: Thu, August 12, 2010 4:40:40 PM
> > > > > > > > Subject: [DynoMotion] Re: Kflop / Kanalog
> > > > > > > >
> > > > > > > >
> >ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'¢ÃÆ'¢â€šÂ¬ÃÆ'…¡ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ 
> >
> > > > > > > >
> > > > > > > > Hi Tom,
> > > > > > > >
> > > > > > > > Nearly there but not quite.
> > > > > > > >
> > > > > > > > When I Jog in mach it will continue to run in one direction untill
> >I
> >
> >
> > > >jog
> > > >
> > > > >in
> > > > >
> > > > > > >the
> > > > > > >
> > > > > > > >
> > > > > > > > opposite direction where it will still keep running.
> > > > > > > >
> > > > > > > > Here is the program I ended up with.
> > > > > > > >
> > > > > > > > Regards
> > > > > > > >
> > > > > > > > Arthur
> > > > > > > >
> > > > > > > > ch0->InputMode=ENCODER_MODE;
> > > > > > > > ch0->OutputMode=DAC_SERVO_MODE;
> > > > > > > > ch0->Vel=10000;
> > > > > > > > ch0->Accel=100000;
> > > > > > > > ch0->Jerk=1000000;
> > > > > > > > ch0->P=0.8000000119209;
> > > > > > > > ch0->I=9.999999747379e-005;
> > > > > > > > ch0->D=0;
> > > > > > > > ch0->FFAccel=0;
> > > > > > > > ch0->FFVel=0;
> > > > > > > > ch0->MaxI=200;
> > > > > > > > ch0->MaxErr=200;
> > > > > > > > ch0->MaxOutput=2047;
> > > > > > > > ch0->DeadBandGain=1;
> > > > > > > > ch0->DeadBandRange=0;
> > > > > > > > ch0->InputChan0=0;
> > > > > > > > ch0->InputChan1=1;
> > > > > > > > ch0->OutputChan0=0;
> > > > > > > > ch0->OutputChan1=1;
> > > > > > > > ch0->MasterAxis=-1;
> > > > > > > > ch0->LimitSwitchOptions=0x0;
> > > > > > > > ch0->InputGain0=-1;
> > > > > > > > ch0->InputGain1=1;
> > > > > > > > ch0->InputOffset0=0;
> > > > > > > > ch0->InputOffset1=0;
> > > > > > > > ch0->OutputGain=1;
> > > > > > > > ch0->OutputOffset=0;
> > > > > > > > ch0->SlaveGain=1;
> > > > > > > > ch0->BacklashMode=BACKLASH_OFF;
> > > > > > > > ch0->BacklashAmount=0;
> > > > > > > > ch0->BacklashRate=0;
> > > > > > > > ch0->invDistPerCycle=1;
> > > > > > > > ch0->Lead=0;
> > > > > > > > ch0->MaxFollowingError=4000;
> > > > > > > > ch0->StepperAmplitude=250;
> > > > > > > >
> > > > > > > > ch0->iir[0].B0=1;
> > > > > > > > ch0->iir[0].B1=0;
> > > > > > > > ch0->iir[0].B2=0;
> > > > > > > > ch0->iir[0].A1=0;
> > > > > > > > ch0->iir[0].A2=0;
> > > > > > > >
> > > > > > > > ch0->iir[1].B0=1;
> > > > > > > > ch0->iir[1].B1=0;
> > > > > > > > ch0->iir[1].B2=0;
> > > > > > > > ch0->iir[1].A1=0;
> > > > > > > > ch0->iir[1].A2=0;
> > > > > > > >
> > > > > > > > ch0->iir[2].B0=1;
> > > > > > > > ch0->iir[2].B1=0;
> > > > > > > > ch0->iir[2].B2=0;
> > > > > > > > ch0->iir[2].A1=0;
> > > > > > > > ch0->iir[2].A2=0;
> > > > > > > >
> > > > > > > > EnableAxisDest (0,ch0->Position);
> > > > > > > >
> > > > > > > > DefineCordSystem (0,-1,-1,-1);
> > > > > > > >
> > > > > > > > return 0;
> > > > > > > >
> > > > > > > > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > > > > > > > >
> > > > > > > > > Hi Arthur,
> > > > > > > > >
> > > > > > > > > I didn't see a new file uploaded.
> > > > > > > > >
> > > > > > > > > Now that you have one axis working you are ready to try driving
> >it
> >
> >
> > > >from
> > > >
> > > > >
> > > > > > >
> >>Mach3.ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'¢ÃÆ'¢â€šÂ¬ÃÆ'…¡ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ 
> >
> > > > > > > >
> > > > > > > > >
> > > > > > > > > You need to make a C program that Mach can use to configure
> >KFlop.
> > > > > > > > >
> > > > > > > > > Follow the procedure described here (you are now at step 4)
> > > > > > > > >
> > > > > > > > > http://www.dynomotion.com/Help/Mach3Plugin/Mach3.htm
> > > > > > > > >
> > > > > > > > > Start with some Example Initialization program such as
> > > > > >
> >>InitStepDir3Axis.c.ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'¢ÃÆ'¢â€šÂ¬ÃÆ'…¡ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ 
> >
> > > > > > >
> > > > > > >
> > > > > > > > > Paste
> >yourÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'¢ÃÆ'¢â€šÂ¬ÃÆ'…¡ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ configuration
> >
> > >over the ch0
> > >
> > >
> >>settings.ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'¢ÃÆ'¢â€šÂ¬ÃÆ'…¡ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ 
> > Remove
> >
> > > >
> > > > >all the
> > > > >
> > > > > > >settings
> > > > > > >
> > > > > > > >for
> > > > > > > >
> > > > > > > > >ch1
> > > > > > > > >
> > > > > > > > > and ch2.
> > > > > > > > >
> > > > > > > > > Change the
> >>DefineCoordSystemÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'¢ÃÆ'¢â€šÂ¬ÃÆ'…¡ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ call
> >l to just define
> >
> > >
> > > >one ch0 axis
> > > >
> > > > >in the
> > > > >
> > > > > > >system
> > > > > > >
> > > > > > > >as
> > > > > > > >
> > > > > > > > >X
> > > > > > > > >
> > > > > > > > >
> >by:ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'¢ÃÆ'¢â€šÂ¬ÃÆ'…¡ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ 
> >
> > > > > > > > >
> > > > > > > > >
> > > > > > > > > DefineCoordSystem(0,-1,-1,-1);
> > > > > > > > >
> > > > > > > > > Also change the Enable statement from:
> > > > > > > > >
> > > > > > > > > EnableAxisDest(0,0);
> > > > > > > > >
> > > > > > > > > to
> > > > > > > > >
> > > > > > > > > EnableAxisDest(0, ch0->Position);
> > > > > > > > >
> > > > > > > > > (this will enable the axis and servo at the current encoder
> > >position,
> > >
> > > >
> > > > > > > >otherwise
> > > > > > > >
> > > > > > > > >
> > > > > > > > > you might get a rapid motion to a destination of zero)
> > > > > > > > >
> > > > > > > > > Let us know how far you get.
> > > > > > > > >
> > > > > > > > > Regards
> > > > > > > > > TK
> > > > > > > > >
> > > > > > > > >
> > > > > > > > > ________________________________
> > > > > > > > > From: "aeunson@" <aeunson@>
> > > > > > > > > To: DynoMotion@yahoogroups.com
> > > > > > > > > Sent: Thu, August 12, 2010 1:35:53 AM
> > > > > > > > > Subject: [DynoMotion] Re: Kflop / Kanalog
> > > > > > > > >
> > > > > > > > >
> >ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'¢ÃÆ'¢â€šÂ¬ÃÆ'…¡ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ 
> >
> > > > > > > > >
> > > > > > > > > Thanks Tom,
> > > > > > > > >
> > > > > > > > > Your support of your product is excellent and I now feel I am
> > >getting
> > >
> > > >
> > > > > > > > >somewhere.
> > > > > > > > >
> > > > > > > > > I increased the P gain upto 1.7 where I could just feel the motor
> >
> > > > >oscillate
> > > > >
> > > > > > >
> > > > > > > >so
> > > > > > > >
> > > > > > > >
> > > > > > > > > reduced it to 0.8.
> > > > > > > > >
> > > > > > > > > The I gain was set to 0.0001,any higher and it seemd to create an
> >
> > > > >overshoot
> > > > >
> > > > > > >
> > > > > > > >of
> > > > > > > >
> > > > > > > >
> > > > > > > > > the output.
> > > > > > > > >
> > > > > > > > > I also noticed to get a full revolution I had to increase the
> >move
> >
> > >to
> > >
> > > >
> > > > > > 4096.
> > > > > > > > >
> > > > > > > > > Again I have uploaded the results to the files section.
> > > > > > > > >
> > > > > > > > > Before I move everything out to the workshop and connect up the
> > > >machine
> > > >
> > > > >for
> > > > >
> > > > > > >
> > > > > > > > >real
> > > > > > > > >
> > > > > > > > > I would like to be able to understand getting Mach to work on the
> >
> > > > >single
> > > > >
> > > > > > >axis
> > > > > > >
> > > > > > > >I
> > > > > > > >
> > > > > > > > >
> > > > > > > > > have here in the office. I will also connect up home and limit
> > > > >switches.
> > > > > > > > >
> > > > > > > > > Regards
> > > > > > > > >
> > > > > > > > > Arthur
> > > > > > > > >
> > > > > > > > > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > > > > > > > > >
> > > > > > > > > > Congratulations
> >>Arthur!ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'†'ÃÆ'Æ'Æ'ÃÆ'‚¢ÃÆ'Æ'¢ÃÆ'¢â‚¬Å¡ÃÆ'‚¬ÃÆ'Æ'…ÃÆ'‚¡ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'¢ÃÆ'¢â€šÂ¬ÃÆ'…¡ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ 
> > 
> > >
> > > >You now have a closed
> > > >
> > > > >servo
> > > > >
> > > > > >
> >>>loop.ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'†'ÃÆ'Æ'Æ'ÃÆ'‚¢ÃÆ'Æ'¢ÃÆ'¢â‚¬Å¡ÃÆ'‚¬ÃÆ'Æ'…ÃÆ'‚¡ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'¢ÃÆ'¢â€šÂ¬ÃÆ'…¡ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ 
> > 
> > >
> > > > > > >
> > > > > > > > > >
> > > > > > > > > > Since moving 1000 counts results in 1/2 rev, then the
> >resolution
> >
> >
> > > >must
> > > >
> > > > >be
> > > > >
> > > > > >
> > > > > > > > >about
> > > > > > > > >
> > > > > > > > >
> > > > > > > > > > 2000 counts/rev.
> > > > > > > > > >
> > > > > > > > > > Of course your motion is very slow and sloppy so the next step
> >is
> >
> > >
> > > >to
> > > >
> > > >
> > > > > > > >optimize
> > > > > > > >
> > > > > > > > >
> > > > > > > > > > the servo
> >>tuning.ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'†'ÃÆ'Æ'Æ'ÃÆ'‚¢ÃÆ'Æ'¢ÃÆ'¢â‚¬Å¡ÃÆ'‚¬ÃÆ'Æ'…ÃÆ'‚¡ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'¢ÃÆ'¢â€šÂ¬ÃÆ'…¡ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ 
> > 
> > > Please
> > >
> > > >see:
> > > > > > > > > >
> > > > > > > > > > http://tech.groups.yahoo.com/group/DynoMotion/message/507
> > > > > > > > > >
> > > > > > > > > > Notice in your case, the output (green plot and right side
> > > > > >
> >>>scale)ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'†'ÃÆ'Æ'Æ'ÃÆ'‚¢ÃÆ'Æ'¢ÃÆ'¢â‚¬Å¡ÃÆ'‚¬ÃÆ'Æ'…ÃÆ'‚¡ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'¢ÃÆ'¢â€šÂ¬ÃÆ'…¡ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ is
> >s
> > >
> > > > > > >
> > > > > > > > >clamping
> > > > > > > > >
> > > > > > > > > >at
> > > > > > > > > >
> > > > > > > > > > only 20 DAC counts
> >>>(~0.1V).ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'†'ÃÆ'Æ'Æ'ÃÆ'‚¢ÃÆ'Æ'¢ÃÆ'¢â‚¬Å¡ÃÆ'‚¬ÃÆ'Æ'…ÃÆ'‚¡ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'¢ÃÆ'¢â€šÂ¬ÃÆ'…¡ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ 
> > 
> > >  This is because of
> > >
> > > >
> > > > >our max allowed
> > > > >
> > > > > > >error
> > > > > > >
> > > > > > > >(200)
> > > > > > > >
> > > > > > > >
> > > > > > > > > >and
> > > > > > > > > >
> > > > > > > > > > very
> >>lowÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'†'ÃÆ'Æ'Æ'ÃÆ'‚¢ÃÆ'Æ'¢ÃÆ'¢â‚¬Å¡ÃÆ'‚¬ÃÆ'Æ'…ÃÆ'‚¡ÃÆ'Æ'Æ'ÃÆ'†'ÃÆ'Æ'¢ÃÆ'¢â€šÂ¬ÃÆ'…¡ÃÆ'Æ'Æ'ÃÆ'¢â‚¬Å¡ÃÆ'Æ'‚ÃÆ'‚ P
> >P
> > > gain of 0.1.
> > > > > > > > > >
> > > > > > > > > > Regards
> > > > > > > > > > TK
> > > > > > > > > >
> > > > > > > > > >
> > > > > > > > >
> > > > > > > >
> > > > > > >
> > > > > >
> > > > >
> > > >
> > >
> >
>