Sebastian,
>> When you say "run-away condition", do you mean the motors move without
being commanded, or otherwise somehow move out of control? <<
being commanded, or otherwise somehow move out of control? <<
Yes, exactly. All I have done is to clear the e-stop, which asserts the enables on the two configured stepper motors. When I do that, I get what looks to be max accel and max velocity until shut down by a following error (roughly 1000 steps). There is no program loaded, and I have not done anything such as a jog, home or MDI command.
>> I'm not sure how to debug these following errors you and Matt Shaver are
having. As I understand it, you get following errors if the trajectory
planner asks the joint to move, but the joint doesnt do it, or doesnt do
it correctly. Clearly the joint *is* moving, but maybe not how the TP
expects it to?
The TP breaks the path down into short line segments, right? <<
>> I'm not sure how to debug these following errors you and Matt Shaver are
having. As I understand it, you get following errors if the trajectory
planner asks the joint to move, but the joint doesnt do it, or doesnt do
it correctly. Clearly the joint *is* moving, but maybe not how the TP
expects it to?
The TP breaks the path down into short line segments, right? <<
I don't thing the tp is even involved at this point, since the axes have not been commanded to move anywhere. Only the e-stop has been cleared and the enable pin on the stepper axes asserted.
Regards,
Eric
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