Hi All,
Got my new Viper 200 drives, got em wired up.
The Servo’s seem to run smooth at fast rpm’s, but they have small oscillation when running slow. (Like a high frequency, real quick oscillation) I have those 2 brush nema34 motors Keling sells. They have 250 line differential Quadrature encoders from US digital. I think the motors are 90 volt and my power is about 80 volts.
What I did:
1) set p @ 0100
2) set I @ 0000
3) set d @ 0200
4) set l @ 0004
This is what I understood the manual to say.
I increased “p” to 1700, when the motor started oscillating. I dropped “l” (loop) to 0003, and the motor stopped oscillating. I brought “d” up to 3400. I increased “i” to 0003.
I have been changing all these parameters little by little, but can’t seem to smooth it out at slow speed, like going 1” per minuit.
Any ideas on what to tune?
Thanks