**RESOLVED** Tuning Servos
Posted: Fri Jul 09, 2010 10:56 am
Hi
I have now got everything installed and more or less working on my BP clone milling machine and am trying to tune the servo motors.
The Trace attached shows a big spike in position error at the start and end of movement and at changes in acceleration and velocity.
KP = 0.475
KD = 1.5
command = G1 x1 f120
I can reduce the spikes by pushing KP waay up but I'm not sure that this is the right thing to do.
Any suggestions
Also the instructions show 2 bad versions for each scenario, can you show example traces for what am I trying to achieve and some idea at what point does it become unacceptable?
Thanks
Paul
I have now got everything installed and more or less working on my BP clone milling machine and am trying to tune the servo motors.
The Trace attached shows a big spike in position error at the start and end of movement and at changes in acceleration and velocity.
KP = 0.475
KD = 1.5
command = G1 x1 f120
I can reduce the spikes by pushing KP waay up but I'm not sure that this is the right thing to do.
Any suggestions
Also the instructions show 2 bad versions for each scenario, can you show example traces for what am I trying to achieve and some idea at what point does it become unacceptable?
Thanks
Paul