Recently, I bought 3 viper 200 drivers and 3 renco encoders.
I'm really confused about how to tunning the PID. I already read the manual
and follow the steps one by one.
I'm working in an Anayak 8 Anayakmatic retrofit, I'm using the original motors
I installed the encoders in the screw which moves the mill's table. Those screws are not directly connected to the motor, the transmission is through a band. V2.2 is the viper driver version.
I connected the viper drive with 12 volts, also, the rs232 interface and motor power supply, encoder and motor, and finally the step and direction from the break out board. I'm using Mach3
I started with the X axis, without decoupled the motor from the transmision which moves the mill's table, to have the encoder working
I started the hyperterminal and configured p with 400 and d with 800 (I saw a recommendation in this forum)
In one side of the screw, which moves the table, it's the encoder and in the other side is posible to see it, for the oscilation.
in the movement of the table through X axis, there is no oscilation in the table, but in the moment I powered the motor, in the screw I can see an oscilation.
I increased kp, the oscillation diminished aprox. 6000, then increased kd aprox 10000, but the oscilation never stopped. (oscillation in the screw)
well, sorry for all this explanation, but I considered it was necessary.
1.- Because I'm really new working with pid, I would like to know if the screw, that oscillates, should be totally stiffed (without any movement), or there is a safe rate.
2.- Which are the maximum kp and kd values to configure PID, because I started with 400 and I finished with 6000. so I want to be sure that 6000 is an allowed value, that couldn't affect the viper performance or just too high.