On Sat, 15 Oct 2011, Tom Easterday wrote:
> Date: Sat, 15 Oct 2011 01:12:39 -0400
> From: Tom Easterday <tom-...@bgp.nu>
> Reply-To: "Enhanced Machine Controller (EMC)"
> <emc-users@lists.sourceforge.net>
> To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
> Subject: [Emc-users] config without encoders
>
> We are having some issues turning a servo motor with a Granite Devices drive
> and in the process accidentally fried our homemade differential to single
> ended conversion boards. We ordered some parts to repair them and in the
> mean time I modified my hal config to ignore encoder feedback so we could
> continue to test other issues. When we run above 2000ipm we have
> significant following error and the motor overshoots it's mark by a decent
> amount (say, an inch or so) and then comes back. Shouldn't EMC think that
> commanded position and actual position are always in sync with the config
> below or am I missing something?
>
> Could our Mesa cards be doing something wrong?
>
>
> #*******************
> # AXIS Y
> #*******************
> # Step Gen signals/setup
> setp hm2_7i43.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
> setp hm2_7i43.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
> setp hm2_7i43.0.stepgen.01.steplen [AXIS_1]STEPLEN
> setp hm2_7i43.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
> setp hm2_7i43.0.stepgen.01.position-scale [AXIS_1]SCALE
> setp hm2_7i43.0.stepgen.01.maxaccel [AXIS_1]MAX_ACCELERATION
> setp hm2_7i43.0.stepgen.01.maxvel [AXIS_1]MAX_VELOCITY
> setp hm2_7i43.0.stepgen.01.step_type 0
> setp hm2_7i43.0.stepgen.01.control-type 0
>
> net ypos-fb axis.1.motor-pos-fb <= hm2_7i43.0.stepgen.01.position-fb
> net ypos-cmd axis.1.motor-pos-cmd => hm2_7i43.0.stepgen.01.position-cmd
> net yenable axis.1.amp-enable-out => hm2_7i43.0.stepgen.01.enable
>
> Thanks,
> -Tom
>
Will your step length/step space/maxvel parameters allow any (say 10 %
minimum) headroom at your maximum speed?
This sounds exactly like what would happen when you run out of headroom
Peter Wallace
Mesa Electronics
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