Re: [Emc-users] Tune-upn AC servomotor

[Kasparov, A. <Ara...@ky...>]

=20
On Dec 12, 2006, at 2:07 AM, Kasparov, Aram wrote:

 Hi Dave

I started  Hal Scope, call Xpos cmd, push Normal and Force as it =
directed in manual, and after that I used manual mode to jog machine and =
still I have only straight yellow line.=20

P was set to 30 and I D to zero.

Can be some problem wit scope them self?

  What I do wrong, why I can't see sin wave?

Thanks=20

aramk


> Also, what is exact definition of "oscillate"?
   to move back and forth in a periodic manner as in a pendulum; sine=20
wave.
>
> Any motion of motor should send some signals and oscilloscope=20
> should show waves. If oscilloscope can't show wave it means that=20
> oscilloscope is not sensitive enough.
>
plotting position vs time should give you a nice sine wave at a given=20
frequency.
> So, can I say that oscillate means any motion of motor?
No, motion  in one direction is not oscillation; only when it goes=20
back and forth.

If P is set low you  will get no motion; as you increase P the axis=20
should get more and more jittery. Finally it should  sustain back and=20
forth motion. Don't do this too long; just long enough to make=20
certain it is not going to dampen out. Then multiply the P that =20
produced that by   0.6 and that is a starting value for P. When you=20
are doing this I and D are both set to zero.
After that works then go adjust FF1. That is my way of doing things.=20
Others have different procedures and they work also.
>