K.J. Kirwan wrote: > Hi all, > > Wait, are you sure this is a bug? > > I don't know how the motion controller works in EMC2 as > far as its "in-position" system. I don't see any .ini > parameters listed to set "in-position" tolerances. > (Q: What *are* EMC2's in-position tolerance settings, > and how are they adjusted if not in the .ini file?) > > It is not in the .ini file because there is no "in position" tolerance. There is a following error tolerance, but that causes a program abort. EMC does not wait for an axis to be "in position" before continuing. > But in the case of allowable following error, if the > machine is moving with sufficient velocity, the allowable > following error should ramp up from the low end > MIN_FERROR= (Integrator manual shows as .010" default) > to as high as > FERROR= (Integrator manual shows as 1.0" default) > (See Integrator Manual, Chapter 7.2.9, page 34) > It DOES have asliding scale for following error. > Could something like this be happening (normally) > with the "in-position" tolerance values? If the > machine has ramped up to max speed, and the next > line does not slow things down (even if direction > changes), then maybe "in-position" is reached as > much as an inch "early" and the next motion (quite > properly) begins? > EMC2 computes how far before the end of a move it needs to decelerate based on velocity and the max_acceleration parameter for that axis in the .ini file. As soon as the currently moving axis begins its deceleration, the next axis to move will begin to accelerate when in G64 mode. In G61, that is defeated, and the move must be completed before the next move starts.
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