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command vel oscillate during pid tuning
hi, everyone

i meet some problems when i use turbo pmac 2

to tune the pid parameter of an axes

the motor i used pull via a screw

I set kd=0 and a proper kp and ki

and it seems that a step folloing is acceptable
but the command velocity oscillated during a sine wave following
the period of the oscillation and following error appears to coincide

but i do not think that is a reasonable answer

can any one spare me a help?


I think you need to tune your motor much tighter than what you have shown in the graphs. Please read through this post which has step by step notes on tuning your motor :

Sina Sattari
Hardware Engineering Manager
Delta Tau Data Systems, Inc.

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