Wednesday, July 23

Controller Fine tuning with Schneidy and Hägi

With help from my friend Schneidy we've optimized the parameters to have smoother and more dynamic moves:

  • VDF's (Optidrive P2) we've ended up with Acceleration and Deceleration ramp time from 0.5 seconds each (P1-03 and P1-04)
  • Thanos board:
    • P = 30
    • I = 150
    • D = 30
    • Motor Max = 100 %
    • Motor Min = 1 % 
--> See config steps around 5:22 in this video Step by step explanation of features, functions and connections for AMC1280USB

Note: Older firmware from the Thanos-board hat less resolution of the PID (e.g. in the Video from the link above). Recent firmware (the one I'm using) has another digit to the values. So P=30 now was a 3 on the old firmware, I=150 (15) and D=30 (3).  On Thanos's blog you will find step-by-step guide how to upgrade the firmware.


After many other testing and troubleshooting session with a wonderful expert and friend Hägi, we've managed to get the right PID settings. If AMC1280USB would measure and print out the oscillation period, we could make auto-tuning using it in addition with my motion tester:


Since Thanos added in l-release CLI access to the board, I've started to extend the motion tester with it:

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