mycnc:closed_loop_configuration
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mycnc:closed_loop_configuration [2018/10/09 13:17] – skirillov | mycnc:closed_loop_configuration [2019/11/05 08:54] (current) – ivan | ||
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===== MyCNC closed loop configuration ===== | ===== 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 the desired setpoint position (POS) and a real position measured by encoders (ENC) and applies a correction based on proportional, | + | 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 [[mycnc: |
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For Analogue closed loop system this ratio should be " | For Analogue closed loop system this ratio should be " | ||
- | * Adjust DAC offset ratio to get " | + | * Adjust DAC offset ratio to get " |
* Fill Encoder channel for each PID (Motor#). \\ {{mycnc: | * Fill Encoder channel for each PID (Motor#). \\ {{mycnc: | ||
- | * To test selected channel, check " | + | * To test selected channel, check " |
- | * Click on " | + | * Click on " |
* Reset position error registers - **E(t)** and its Integral value. | * Reset position error registers - **E(t)** and its Integral value. | ||
* Turn ON Servo-ON output to enable a servo driver | * Turn ON Servo-ON output to enable a servo driver | ||
- | * Turn ON PID all " | + | * Turn ON all " |
* Select the channel for a scope widget to control and tune PID controller ratios. \\ {{mycnc: | * Select the channel for a scope widget to control and tune PID controller ratios. \\ {{mycnc: | ||
* Check which Axis the PID controller attached to (Y axis for the screenshot below). \\ {{mycnc: | * Check which Axis the PID controller attached to (Y axis for the screenshot below). \\ {{mycnc: | ||
- | * Jog buttons can be used to move the axis and tune PID coefficients. \\ {{mycnc: | + | * Jog buttons can be used to move the axis while testing |
- | * 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: | + | * 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 |
==== Servo ON handling ==== | ==== Servo ON handling ==== | ||
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* Write " | * Write " | ||
* Write " | * Write " | ||
- | Reading this registers has no effect and return zero value. | + | Reading this registers has no effect and return zero value. Read more about Servo ON/Servo OFF commands in this short manual: [[mycnc: |
3. Automatic Servo ON/OFF. There are 2 handler procedures in Software PLC can be used to automatic PID ON/OFF. | 3. Automatic Servo ON/OFF. There are 2 handler procedures in Software PLC can be used to automatic PID ON/OFF. |
mycnc/closed_loop_configuration.txt · Last modified: 2019/11/05 08:54 by ivan