They should match up better than that. The plot shows a significant scaling error of about:This is the situation I talked about: I press "move" with proper speed and acceleration values. The machine moves ok and this plot is shown.
Should the movement (red line from the encoder) be exactly coincident with the blue command line? If so, which parameters should I adjust?
3000/2800 = 1.07 -> 7% scaling error
You didn't provide all the information requested. What are your configuration screen settings?
The encoder resolution should be scaled to motor steps resolution using the InputGain0 parameter. It seems your system is using KStep so the motor resolution should be 200 x 16X = 3200 steps/rev
I understand your encoder is 400ppr or 1600 counts/rev
So I would expect to need an InputGain0 of 2.0 to match them. But from the machine photo is the encoder connected to the motor with some belt ratio?
As stated in my previous post you must set the Output Mode to "CL Step" for there to be any closed loop corrections.When I force a stall with a speed set too high, I can observe the position fails to follow the command, the red line seems to reflect the failed movement:
PID values are 1,0 and 0, but results don't seem to change when I set non-zero values for Integral and derivative.
As stated before please start with I gain only.
Note that feedback is unlikely to help with motor stalls. In some cases it can help dampen resonances. But in general once the motor stalls the feedback will command the motor faster to try to catch up, but this will likely make matters worse as trying to go too fast is the problem in the first place.
Big size 34 Steppers tend to have tremendous torque but are slow. 36000steps/sec / 3200 x 60 = 675RPM which is probably over what those big steppers can do. Do youhave the specs on those motors? Resistance? Inductance? Current? What supply voltage are you using?
You are probably not in CL Step mode as described above and in my previous post.I understand my encoders are working, but I am missing something, because the output green line is always flat.
Am I correct? should the green line (output) reflect the adjustment to be made to the movement?
IIR Filters looks reasonable. Note rather than taking photos it is clearer to do a screen capture with Alt+Print Screen, then paste into a program like Paint, then save as an *.png file.Here is my filters screen