Hello Tom,

I want to make a basic tuning helper utility.

Here is the functionality I have used in the past for fine-tuning.

Command an infinite loop of motion between two points
With the axis moving, I keep an eye on following error and output

while::
adjust velocity, accel and jerk for sharp motion
adjust PID params as well as some others(feedforward, etc...)

I have been able to achieve very tight performance using this methodology, typically only needing to adjust P and D to find a good balance between stiffness and stability.

So I want to implement this tool for use with Kflop, and an initial layout of it is here::
http://groups.yahoo.com/group/DynoMotion/photos/album/1009476393/pic/list


After looking at the example here::
http://www.dynomotion.com/Help/data_gathering.htm

It seems fairly straight forward, but I would like to see what the structs gather and gather.list look like.


Also, can I stream the data in memory(message callback?)? Surely there is another way to access the data other that the text file that I have overlooked.



Thanks,

Brad Murry

I wanted to clarify that this app would be used after the axis was in a ~stable state and already accepting motion commands.

On other systems I work with, I use this methodology to fine tune after using an 'Auto Tune' function.


Maybe down the road other functionality to get a servo moving from initial connection could be looked at.

-Brad Murry

--- In DynoMotion@yahoogroups.com, "bradodarb" <bradodarb@...> wrote:
>
> Hello Tom,
>
> I want to make a basic tuning helper utility.
>
> Here is the functionality I have used in the past for fine-tuning.
>
> Command an infinite loop of motion between two points
> With the axis moving, I keep an eye on following error and output
>
> while::
> adjust velocity, accel and jerk for sharp motion
> adjust PID params as well as some others(feedforward, etc...)
>
> I have been able to achieve very tight performance using this methodology, typically only needing to adjust P and D to find a good balance between stiffness and stability.
>
> So I want to implement this tool for use with Kflop, and an initial layout of it is here::
> http://groups.yahoo.com/group/DynoMotion/photos/album/1009476393/pic/list
>
>
> After looking at the example here::
> http://www.dynomotion.com/Help/data_gathering.htm
>
> It seems fairly straight forward, but I would like to see what the structs gather and gather.list look like.
>
>
> Also, can I stream the data in memory(message callback?)? Surely there is another way to access the data other that the text file that I have overlooked.
>
>
>
> Thanks,
>
> Brad Murry
>

Hi Brad,

From my point of view, I think it's a great idea.
If I may ask something, why a straight line? Shouldn't it be more realistic to tune trying to follow a sin wave, variable in amplitude and frequency? The frequency should be limited , according to your statement: a pre-tuned system,to the known bandwidth.

If you agree I would be happy to test it, if applicable.

Regards,

Jerome

--- In DynoMotion@yahoogroups.com, "bradodarb" <bradodarb@...> wrote:
>
>
> I wanted to clarify that this app would be used after the axis was in a ~stable state and already accepting motion commands.
>
> On other systems I work with, I use this methodology to fine tune after using an 'Auto Tune' function.
>
>
> Maybe down the road other functionality to get a servo moving from initial connection could be looked at.
>
> -Brad Murry
>
>
> --- In DynoMotion@yahoogroups.com, "bradodarb" <bradodarb@> wrote:
> >
> > Hello Tom,
> >
> > I want to make a basic tuning helper utility.
> >
> > Here is the functionality I have used in the past for fine-tuning.
> >
> > Command an infinite loop of motion between two points
> > With the axis moving, I keep an eye on following error and output
> >
> > while::
> > adjust velocity, accel and jerk for sharp motion
> > adjust PID params as well as some others(feedforward, etc...)
> >
> > I have been able to achieve very tight performance using this methodology, typically only needing to adjust P and D to find a good balance between stiffness and stability.
> >
> > So I want to implement this tool for use with Kflop, and an initial layout of it is here::
> > http://groups.yahoo.com/group/DynoMotion/photos/album/1009476393/pic/list
> >
> >
> > After looking at the example here::
> > http://www.dynomotion.com/Help/data_gathering.htm
> >
> > It seems fairly straight forward, but I would like to see what the structs gather and gather.list look like.
> >
> >
> > Also, can I stream the data in memory(message callback?)? Surely there is another way to access the data other that the text file that I have overlooked.
> >
> >
> >
> > Thanks,
> >
> > Brad Murry
> >
>