Michael,
a joint following error means that the position where EMC thinks the
axis should be is not the same as where the motor controller's feedback
loop tells you the axis is.
I guess you have a stepper system which makes this a strange error to
see. But EMC is split in a trajectory control and a motor driver which,
in case of a stepper motor system, is stepgen. Stepgen reports it's
motor's position to the trajectory control.
If the stepgen is programmed to have slower parameters than what EMC's
trajectory control thinks, this may (eventually will) trigger a joint
following error.
There are multiple reasons why this error may appear. In a stepper based
system driven by the parallel port driver this mostly is due to a system
tuned too close to its limits. I suggest you re-do the latency test and
see if something changed. Also try the tort.ngc in the samples
directory, this is a real torture for the machine and I found that if it
passes the first 20 or so lines all my other programs run OK.
If you have a different configuration (e.g. servo motors with external
controllers) then also tuning your system too close to the edge will
result in joint following errors. For servo systems, always set the max
velocity and max acceleration in the .ini file a bit (I used 5%) lower
than the values specified for the motor drivers.
Good luck,
Rob
Michael Jones wrote:
> I'm getting a "joint following error on axis 0" EMC2 2.3 lately. This
> usually happens when doing some fine detail an engraving with a fine v
> bit - and of course when it's about 90% done with the program.. I
> haven't been doing this long enough to say that it's definitely 2.3 as
> I didn't get my engraving programs set up until after I upgraded.
>
> What causes this type of error?
>
> - Michael
>
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