Sebastian Kuzminsky wrote:
> Matt Shaver wrote:
>> 1. Following Errors - When I use:
>>
>> axis.0.motor-pos-cmd ==> hm2_5i20.0.stepgen.00.position-cmd
>> axis.0.motor-pos-fb <== hm2_5i20.0.stepgen.00.position-fb
>>
>> I get following errors at higher axis speeds. I tried:
>>
>> axis.0.motor-pos-fb <== hm2_5i20.0.stepgen.00.position-cmd
>>
>> and I don't get following errors, but the axis runs on after I let up on
>> a jog key. The control must think we're at the end of the move already,
>> but the 5i20 is still driving the motor to the commanded position.
>> There are some HAL pins like axisui.jog.x, but I don't know what to do
>> with them (I may have to RTFM).
> ...
>> 5. HAL & INI is at:
>> http://pastebin.com/m36daceed
>
> Wait a second, this configuration looks wrong to me.
>
> In the HAL file your steplen and stepspace are both 2500 ns, so that
> gives a max step rate of 20,000 steps/second. But you set
> stepgen.position-scale to 40,000 steps/inch and stepgen.maxvel to 10
> inches/second, that's 400K steps/second!
>
> In the INI file you tell the trajectory planner (i think) that it can
> ask for a maxvel of 4.8 inches/second, which is 192K steps/second. Of
> course you're going to get following errors!
>
> I'd expect your setup works fine up to 0.5 inches/second (20K
> steps/second), and gets following errors when trying to go faster than
> that.
Nope, i'm off by 10. 5 us/step is 200K steps/second. The
stepgen.maxvel of 10 inches/second is too high but the trajectory
planner's MAX_VELOCITY of 4.8 inches/second should be fine.
Nevermind me, i'll crawl back into my sewer pipe now.
--
Sebastian Kuzminsky
Theo: "Julian? I haven't seen you in twenty years. You look good.
The picture the police have of you doesn't do you justice."
Julian: "What do the police know about justice?"
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