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following error in positioning

9/7/2008 9:01 PM	Rate (0)
wreng Advanced Member Joined: 7/27/2008 Last visit: 11/8/2023 Posts: 25 Rating: (0)	Hello i command positioning by _move() in position_controlled. But the result was as attached trace. Whypositioningstate.differencecommandtoactual is irregular? one more, at starting of acceleration and starting of deceleration, the jerk does not work. but at end of acceleration and end of deceleration, it works well. Why? regards wreng Attachment starting_problem.zip (794 Downloads)

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9/8/2008 9:00 AM	Rate (0)
Engin_ Regular Member Joined: 8/6/2008 Last visit: 10/8/2008 Posts: 12 Rating: (1)	Hello wreng. >Whypositioningstate.differencecommandtoactual is irregular? imhoform of the following error is quite normal: >0 during positive movementand <0 during negative. The oscilations of following error are quite small - 0.005mm, but the amplitudeis big enogh may be the speed and/or pos controllers are not optimized. >one more, >at starting of acceleration and starting of deceleration, the jerk does not work. The only thing I can think about is a load influence. I belive it can be fixed by apropriate optimization of control loops with setpoint filters. Regards!

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9/9/2008 4:02 PM	Rate (0)
wreng Advanced Member Joined: 7/27/2008 Last visit: 11/8/2023 Posts: 25 Rating: (0)	Thank you engin_ Regards

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