BDCComm Settings for Speed Mode Testing?

[taichichuan]

Hi Gang,

We're testing the Jaguars in Speed control mode via BDCComm-92. The Jaguars are updated to Rev 92 of the firmware. I have the KOP encoder (US Digital EAP4 360-250-0-0-0) attached to a CIMple box with 1 CIM attached. The encoder is on the center CIMple box shaft and I have VCC wired to the + on the Jaguar, channel A of the encoder to A on the Jaguar, Gnd on the encoder to -, channel B of the encoder to B on the Jaguar.

For BDCcomm, on the configuration tab, I have the encoder lines set to 360. The mode set to "Speed". My PID values are set low for testing (P=.3, I=.001, D=0). If I set the Reference to "Quadrature Encoder", and try to set an RPM, it takes off at full speed rather than the RPM I set.

If I set the reference to "Encoder", it seems to work at the proper RPM. So, first question is, why not Quadrature Encoder? Do I need to adjust the number of encoder lines or something?

If I try to go into Position mode and set a positive position, the motor takes off in the negative direction and vice versa. Does this mean that it's actually and "Inverted Encoder"? I'm just trying to figure all of this out before committing it to software.

Also, there is a lot of chatter on the motor with low speeds. So, I'm assuming that my PID values need adjusting. But, no matter how I adjust the PID numbers I can't get it to stabilize. Any guidance on this adjustment process would be greatly appreciated.

TIA,

Mike