Re: Working ... but not quite

[Ray Henry <rehenry-at-up.net>]

Bill and Robin

The variables below are only used in the simulations.  You could replace 
some of the values with those of your servo system and sim will show how 
it will work.  I haven't tried it but they might be useful for getting 
some preliminary PID tuning values for a servo setup.

Ray


On Monday 16 September 2002 09:12 am, you wrote:
> OK, I'll start out here. When using steppermod or freqmod (and probably
> anything else for that matter - not sure here ???)
>
> The following is not used
>
> ; Parameters for Inland Motor BMHS-0701 X 20
> TORQUE_UNITS =                  OZ_IN
> ARMATURE_RESISTANCE =           1.10
> ARMATURE_INDUCTANCE =           0.0120
> BACK_EMF_CONSTANT =             0.0254
> ROTOR_INERTIA =                 0.0104
> DAMPING_FRICTION_COEFFICIENT =  0.083
> SHAFT_OFFSET =                  0
> REVS_PER_UNIT =                 10
> ; Parameters for generic amplifier
> AMPLIFIER_GAIN =                1
> MAX_OUTPUT_CURRENT =            10
> LOAD_RESISTANCE =               1
> ; parameters for generic encoder
> COUNTS_PER_REV =                4096
>
> If this is just leftover from some obscure setup and not used for
> anything anymore, perhaps we should just get rid of it. I always delete
> it from my ini files with no adverse reaction.
>
> Bill
>
> > List
> >
> > Let's get everything we know about the ini file to Robin.  Go to his
> > site and see what needs to be filled in or expanded.
> >
> >
> > Robin
> >
> > Thanks for the kind offer to help with documentation.  Yes I think
> > that it will be useful.  I'm sure that the faster the pc the faster
> > it can spit out pulses but I don't think that there is a 1 to 1
> > correlation. I've been content with the thought that the relationship
> > was ordinal. Perhaps we should do some testing.
> >
> > Ray
> >
> > On Monday 16 September 2002 06:28 am, you wrote:
> > > On Monday 16 September 2002 01:40, Ray Henry wrote:
> > > > Robin
> > > >
> > > > You will not get the same pulse rate from Linux and from Dos
> > > > using the same box.  Four KHz sounds good for a 150 machine. 
> > > > Some report that they can get about 15 KHz from 450+ machines
> > > > with steppermod. You will get somewhat less with freqmod.
> > >
> > > oh .. OK  .. better upgrade the box then .. base machines here are
> > > 1.7ghz anyway now, so assuming it scales linearly then it should be
> > > OK.
> > >
> > > > It's on the "to-do" list.
> > >
> > > OK .. well .. I'll make a start on it for my own benefit, from what
> > > I can work out. I've parsed the ini file and will volunteer to
> > > collate any information and format it into html and ps/pdf .. I'll
> > > work out what I can from the source .. if a couple of people who
> > > *do* know whats what could have a quick look at
> > > http://www.quacky.co.uk/~robin/ini.txt and fill in a few gaps (I'll
> > > merge any info thats submitted and keep it updated) it should be
> > > possible to document most of it fairly quickly.
> > >
> > > I'd like to document a) 'standard' value from emc.ini, b) the range
> > > of acceptable values and c) some notes on the effects and
> > > constraints etc. (ie what it does)
> > >
> > > Should it ever become nearly complete it can be merged back into
> > > CVS if you think it useful.
> > >
> > > > Ray
> > > >
> > > > On Sunday 15 September 2002 06:56 pm, Robin wrote:
> > > > > Right ... more questions ..
> > > > >
> > > > > I'm getting 'axis follow' errors when I make rapid traverses
> > > > > (well .. slow traverses .. it quits a long time before it gets
> > > > > anywhere near 'rapid') .. what sort of maximum pulse rate
> > > > > should I be able to reliably get out of steppermod.o and a
> > > > > Pentium 150 ... I need around 20 to 30khz to get best
> > > > > performance out of the motors ... I'm not getting much more
> > > > > than 4khz at the moment ... any suggestions?
> > > > >
> > > > >
> > > > > and ... is there a clear and concise explanation of the various
> > > > > terms in the ini file ... ?? I'm struggling to identify all the
> > > > > lines .. the handbook identifies some of the lines but some are
> > > > > undocumented .. am I missing something and theres a big lump of
> > > > > documentation apart from the emc handbook somewhere ... ?? or
> > > > > is this still on the to-do list .. ??
> > > > >
> > > > > many thanks.