Marc, I know what you are saying, but I think that steppers must also have a ramp.
The PID loop really does not include an accel/decel ramp. True, the ramps you decide to use, will be affected by the PID settings, but the PID settings do not make the ramps. PID is used to adjust the servo response to its encoder feedback. Depending on the load and motor size, you can imagine that this has to be customized for every installation. But, theoretically, the accel/decel ramp could be fixed for every installation.
On the Galil card, the accel/decel for servos is still based on encoder counts per second, which parallels steps per second for a stepper. Somewhere, there has got to be a ramp for increasing or decreasing steps per second for the stepper, otherwise it will lose steps on every accel/decel.
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