Dynomotion

Group: DynoMotion Message: 9215 From: Toby Rule Date: 2/18/2014
Subject: large following error limits

Hi Tom,

 

In  closed-loop mode, with large following error limits, if we do something unusual (bad axis tuning or unplug power to motor, etc.) then the following error will become very large, and the PID loop stops trying to reduce the following error to zero.  It seems like it goes into open loop mode.

 

I want the software to respond to this condition.  Is there a way to detect that the board has entered this mode, or do I just have to watch for the following error to remain large?

 

Thanks,

 

Toby

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Group: DynoMotion Message: 9222 From: Tom Kerekes Date: 2/18/2014
Subject: Re: large following error limits
Hi Toby,

The Max Output parameter will limit how much correction the closed loop will be allowed to make.  It sounds like you are exceeding this value and the servo will stop making corrections.  If you would like it to correct forever set it to a huge value.

You can monitor the following error yourself by comparing the commanded Destination with the current Position.  Or I don't see why you don't set the Following Error smaller to disable in this condition.

Regards
TK