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command vel oscillate during pid tuning


KiraYamato
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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

step.thumb.png.7379c5e8d7b4cf1ea868405bb43ae1c5.png

but the command velocity oscillated during a sine wave following

11.thumb.png.215dc12a72dddc2663f70b5ecd23603b.png

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?

 

3q

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