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--- mycnc:closed_loop_configuration [2018/10/08 14:51] – skirillov
+++ mycnc:closed_loop_configuration [2018/10/09 11:29] – skirillov
@@ Line 42: / Line 42: @@
   * Adjust DAC offset ratio to get "0V" value on DAC output for each channel. Theoretical value DAC value for 0V is "2048". A real value may vary +/-5%. \\ {{mycnc:closed-loop:mycnc-closed-loop-003.png}}
   * Fill Encoder channel for each PID (Motor#). \\ {{mycnc:closed-loop:mycnc-closed-loop-004.png}}
-  * To test selected channel, check "Enable" checkbox for the channel and enter initial value of "50" for Proportional P-ratio of PID controller. Press "Enter" to save the changes. \\ {{mycnc:closed-loop:mycnc-closed-loop-005.png}}
+  * To test selected channel, check "Enable" checkbox for the channel and enter initial value of "50" for Proportional P-ratio of PID controller. Press "Enter" to save the changes. We test PID#5 (motor channel #5) on the screenshot below. \\ {{mycnc:closed-loop:mycnc-closed-loop-005.png}}
-  * Click on "Servo-ON" button to reset & enable selected PID andturn ON "Servo-ON" signal.
+  * Click on "Servo-ON" button to reset & enable selected PID and turn ON "Servo-ON" signal. Servo-On procedure -
+    * Reset position error registers - **E(t)** and its Integral value.
+    * Turn ON Servo-ON output to enable a servo driver
+    * Turn ON PID all "Enabled" controllers (Checkboxes "Enable" are checked)
   * Select the channel for a scope widget to control and tune PID controller ratios. \\ {{mycnc:closed-loop:mycnc-closed-loop-006.png}}
+  * Check which Axis the PID controller attached to.
+  * Jog buttons can be used to move the axis and tune PID coefficients.
+  * An analogue servo driver normally has a linear function of rotation speed depends on input voltage. A linear coefficient of this function depends on Servo driver and motor, gears, ball-screw. PID **K** value represent this coefficient. The value can be tuned manually. If rotate a motor shaft with speed more than 20 turn/sec, the controller calculates real Speed/Voltage coefficient and print it on the configuration widget. You can use this value as information to tune the PID **K** ratio. A button **<<** to the right of **PID K** input line can be used to copy the measured **K** ratio to **PID K**.
 ==== Servo ON handling ====