...
POST No. 2407616
XL430-W250-T does not exactly reach position (+- 10 steps)
2019-10-08 00:43:38 alex12
Hello,

I have a problem with my XL430-W250-T when using the Position control mode.

When I set a Goal position, the motor moves in that direction but does not reach it accurately. The encoder can measure the wrong position, but the motor does not try to reach it.
For example: target position is 180.04 degrees, current position after the drive: 180.75 degrees. Even if I resend the correct target position, the motor will not move within about +-0.88 degrees.
Because of that, the resolution from the data sheet drops from 0.088 degrees to about 0.88 degrees.

What could be the reason for this and how can it be avoided?

Thank you very much for your help.


2019-10-08 00:43:38
alex12
2019-10-11 17:27:30 Will Son

Hi,


In order to decrease the gap between Goal Position and final Present Position, you can increase P gain.

However, increasing P gain too much will cause an overshoot and fluctuation.

D gain will help to decrease the side effect of P gain.

Please refer to PID information from wikipedia below.

https://en.wikipedia.org/wiki/PID_controller 


Thank you.

2019-10-11 17:27:30
willson
Reply
웹에디터 시작 웹 에디터 끝