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**General Mach Discussion / Re: Dugong Tuning Problems, Positioning Error**

« **on:**February 19, 2014, 12:48:48 PM »

Just to close this out, Dugong finally got back to me and sorted out the problem....

Integral Limits!!

Looking back on it now, the solution was obvious. The integral limit is set as a default to 0 with a maximum value of 65500. All other tuning I've done with Dugong drives I've never had to mess with the integral limit, and the tuning manual says to leave it alone.

Well, this time I needed to bump the limit up to around 15000 to get Ki to respond. With that all sorted the servos are happily finding 0 each time and I'm getting a positioning accuracy better than 0.0005.

Servo Tuning once again gets the better of me.

SG

Integral Limits!!

Looking back on it now, the solution was obvious. The integral limit is set as a default to 0 with a maximum value of 65500. All other tuning I've done with Dugong drives I've never had to mess with the integral limit, and the tuning manual says to leave it alone.

Well, this time I needed to bump the limit up to around 15000 to get Ki to respond. With that all sorted the servos are happily finding 0 each time and I'm getting a positioning accuracy better than 0.0005.

Servo Tuning once again gets the better of me.

SG