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Post by hexpod on Sept 17, 2015 12:54:37 GMT
Hi Is there anybody who could briefly explain for what these different gains are responsible?
Thanks
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Post by tronicgr on Sept 17, 2015 14:54:42 GMT
Hmm, not sure. Is that in the clearpath software advanced settings?
I did the autotune with load as well the first time I powered my Servomotor but never bothered to deal with these parameters.
Thanks Thanos
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Post by hexpod on Sept 17, 2015 15:00:34 GMT
Hmm, not sure. Is that in the clearpath software advanced settings? I did the autotune with load as well the first time I powered my Servomotor but never bothered to deal with these parameters. Thanks Thanos Hi I did auto-tune also on the 6 motors and have compared the results. You can notice pretty huge differences from one motor to another.
cheers.
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Post by hexpod on Sept 17, 2015 15:05:33 GMT
Hmm, not sure. Is that in the clearpath software advanced settings? I did the autotune with load as well the first time I powered my Servomotor but never bothered to deal with these parameters. Thanks Thanos Hi I did auto-tune also on the 6 motors and have compared the results. You can notice pretty huge differences from one motor to another.
cheers.
To enable those settings you have to press "Ctrl Shift P" in the clearpath MSP.
cheers.
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Post by tronicgr on Sept 17, 2015 15:08:13 GMT
That is normal. Each motors mechanical properties or gearbox connected to it are not identical. The good thing is the autotune deals with these changes automatically to have same performance motors in the end.
Thanks Thanos
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Post by clyevo on Sept 17, 2015 15:13:33 GMT
Hi Is there anybody who could briefly explain for what these different gains are responsible?
Thanks what i know is that Kp Ki has something to do with inertia tuning which will improve response while preventing oscillation
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