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external pulse & direction dithering after stop


deltaa
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System config,

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External micro stepping amplifier

Two phase stepping motor

Geo Brick LV drive channel 4 output Step/Dir signal

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Parameters used,

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I403=$3504

I404=$3504

I8003=$C78018

I7040=8

==

 

Use jog command #4j+ or #4j- to start motor, motor runs without problem, then #4j/ to stop jogging, after the motor stops, it's still vibrating. Use scope to check the pulse and direction signal from Geo Brick LV, these two signals still have outputs. Anyone has similar experience? What could be wrong?

 

Thanks

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The PID gains are

I430=4096;Motor 4 PID Proportional Gain

I431=0;Motor 4 PID Derivative Gain

I432=16384;Motor 4 PID Velocity Feed Forward Gain

I433=10000;Motor 4 PID Integral Gain

I434=0;Motor 4 PID Integration Mode

I435=4096;Motor 4 PID Acceleration Feed Forward Gain

I436=0;Motor 4 PID Notch Filter Coefficient N1

I437=0;Motor 4 PID Notch Filter Coefficient N2

I438=0;Motor 4 PID Notch Filter Coefficient D1

I439=0;Motor 4 PID Notch Filter Coefficient D2

 

Do I need to tune the position loop for an external pulse/direction setup?

By the way, when I jog to specified position using #4j=***, the problem does not happen.

It only happens when using jog stop command j/ when the motor is moving.

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