[whit3rd]

On Tuesday, March 1, 2011 6:26:08 AM UTC-8, Ned Simmons wrote:
On Tue, 01 Mar 2011 07:27:03 -0600, Ignoramus21417
wrote:



I am not sure how really durable this is. Right now the W axis motor
heats up because there is current through it even what it is stopped

The first thing to try is an increase to the "I" gain. This integrates
the position error over time

Bu-bu-bu-but the 'I' gain is the likely culprit in continuous current
drain, if it integrates even a small measurement error it can
cause high current draw forever. Does the 'I' gain have any
stopband at all?

Too little 'I' range causes the motor to stall before the target position
is reached. The 'D' gain is partly responsible here, too, it could
be set too high and would null out the 'P' contribution before the
target position is reached (that's when the 'I' goes to its limit).