TOS-KURIM CNC Upgrade

[Muzzer]

Did you see this? http://www.cncdrive.com/downloads/help.pdf

Looks half sensible. I'll also see if I noted my own values somewhere for you to compare against.....

EDIT - that's annoying. I seem to have logged almost everything else I ever did on this machine but there's no trace of the PID settings in the servo tuning. Sorry about that. I seem to recall that you could plot the response in the software as you played with the numbers.

You start with I and D turned off (to zero) then turn up the P term until it gets unstable then back off. Then dial in some D term until it gets a bit nervous then back that off a bit. Play with turning P and D up together until it seems happy and the response is good. Finally dial up the I term until it starts hunting again. Then dial it back a bit and play with all 3 together until you are sick of it. Note down some of the settings that seem to be getting there because you will screw it up and forget what looked promising.

The I term doesn't make a lot of difference to the speed of response but you need it to eliminate steady state error. It's a bit of a black art and there's loads of bollocks talked about it but the above is the guts of it. There are autotuners in some of these programs but in my experience they are usually pretty crap. I've done several courses on digital control systems over the years and I still end up doing a lot of it by trial and error.