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Submitted by RobertQuinn on Sat, 06/10/2006 - 19:08

I have a vertical oriented system driven by
a directly coupled 1/2" pitch ball screw to a
servo motor. We are useing a Galil 2 axis card.

The system was tuned and moves up well, but
when going down, it will at higher move rates
(greater than 90" per minute) "jerk" or "bang".
Sometimes this caused the system to error out. It happens more the higher the velocity is set to. It happens while in motion and more predominantly when trying to decel when going down. It never happens when going up. It is also more predominant as the weight on the system is increased. We have some auxiliary brakes on the system and it will work fine when we partially turn the brakes on. The jerk appears to be caused by the motor trying to stop or even momentarily reverse direction.

Is there any way to tune this out, I've played with all the pid parameters and nothing seems to help. I've even tried some of the il, fa, and fv parameters but nothing seemed to have any effect.

Any ideas would be greatly appreciated!! Thank you.

Comments 2

Galil_AndyH on 01/11/2010 - 15:21

This post was addressed offline. For further questions contact us directly.

cookmat on 04/26/2023 - 17:04

What was the solution to this? I have the same issue it seems like