Learning every day. I love it and hate it..
I have not been back to the machine to sort it out. When things are running I have other things to do. Unfortunately, the velocity calculation I will need to take control of the machine and play with it a bit to tweak it out.
Thankfully, I am doing this as a way to set the valve speed instead of controlling a position. It makes me realize why motion controllers are used and how important they are for precision positioning.
I did end up programming a self learning offset calibration. Each time the machine auto positions it calculates the error and applies it to the next move. I move all axis at one time until in position within X amount, then move one at a time until in position then move another and so forth. There is a different calculation for each direction and it works real well for the application and all done with bang bang valves.
I have not been back to the machine to sort it out. When things are running I have other things to do. Unfortunately, the velocity calculation I will need to take control of the machine and play with it a bit to tweak it out.
Thankfully, I am doing this as a way to set the valve speed instead of controlling a position. It makes me realize why motion controllers are used and how important they are for precision positioning.
I did end up programming a self learning offset calibration. Each time the machine auto positions it calculates the error and applies it to the next move. I move all axis at one time until in position within X amount, then move one at a time until in position then move another and so forth. There is a different calculation for each direction and it works real well for the application and all done with bang bang valves.