Hi Tom/everybody,
I have recently made the jump and decided to change the stepper motors on the mill to servo's.
I have a single servo setup with a new kflop/kanalogue combo in a test configuration - my thinking to be to get it going on the bench, then transplant it to the mill with a known good starting point already setup.
However, the tuning of the servo has proven to be a tricky beast to tame and I was wondering if you could cast your knowledgeable eye upon what I had achieved so far and whether it could be further improved (which I'm sure it could be).
After much tuning (and reading of the WIKI) I have arrived at a set of values which seem to have the least following error - however, I am still getting a following error of > 1100 counts.
There also seems to be quite a bit of noise of the rising/falling edge of the output which is caused by D being set to 64, together with some under/over shoot and I'm wondering if this is normal. The D value also causes a little bit of grumble - is this normal?
I am running the servo with NO filtering at this point as TBH the bode plot output is somewhat confusing - how do I interpret its output and do I need any filtering?
So - in summary:-
1. Can I improve on the current set of parameters at this stage?
2. Can I reduce the following error or is 1100-1200 counts an acceptable figure?
3. How do I interpret the bode plot and do I need any filtering?
I'd just like to re-iterate what I've said before - the kmotion system really is top notch - please keep up the great work.
Regards,
Toneski