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--- mycnc:closed_loop_configuration [2018/10/09 11:29] – skirillov
+++ mycnc:closed_loop_configuration [2018/10/09 13:17] – skirillov
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 ===== MyCNC closed loop configuration =====
-A proportional–integral–derivative controller (PID controller) is a control loop feedback mechanism widely used in industrial control systems and a variety of other applications requiring continuously modulated control. A PID controller continuously calculates an error value E(t) as the difference between a desired setpoint position (POS) and a real position measured by encoders (ENC) and applies a correction based on proportional, integral, and derivative terms (denoted P, I, and D respectively).
+A proportional–integral–derivative controller (PID controller) is a control loop feedback mechanism widely used in industrial control systems and a variety of other applications requiring continuously modulated control. A PID controller continuously calculates an error value E(t) as the difference between the desired setpoint position (POS) and a real position measured by encoders (ENC) and applies a correction based on proportional, integral, and derivative terms (denoted P, I, and D respectively).
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     * 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.
+  * Check which Axis the PID controller attached to (Y axis for the screenshot below). \\ {{mycnc:closed-loop:mycnc-closed-loop-007.png}}
-  * Jog buttons can be used to move the axis and tune PID coefficients.
+  * Jog buttons can be used to move the axis and tune PID coefficients. \\ {{mycnc:closed-loop:mycnc-closed-loop-008.png}}
-  * 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**.
+  * 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. \\ {{mycnc:closed-loop:mycnc-closed-loop-009.png}} \\ 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**. \\ {{mycnc:closed-loop:mycnc-closed-loop-010.png}}
 ==== Servo ON handling ====