The moves I programmed were pretty intense for this small machine, and under load only in the sense that the work table is the load, no cutting. In my research of PID and as much hands on play-time as I can do, I feel pretty comfortable tuning a servo with the software that I have. My understanding is to stress the machine for tests like this... high accel, decel, and high top speed. This will exaggerate errors as the mass is accelerated. Then, the PID parameters are slowly modified to minimize the error over the move. Minimizing position errors when the mill is stressed this way will result in even better performance during what might be called "normal" operation.
I'll try to get some screen shots up to show what I refer to. I think that I am going to go brushless anyhow. Ultimately, they'll probably give better performance running actual g-code than the brushed. |