On Wednesday 15 March 2017 11:45:08 Jon Elson wrote: > On 03/15/2017 09:09 AM, Gene Heskett wrote: > > Secondary Q, for whoever knows: I am being plagued with > > joint following errors, even for tiny movements, smaller > > than the error tolerances set in the .ini file.. Is a > > limit3 limiting the acceleration the fix for that? > > You don't need that. Joints are already acceleration > limited, the parameters are in the .ini file for each > axis/joint. > You should run Halscope, and look at pid.x.error
There are no pid's used in this configuration Jon. Nor is there a base-thread. Till now I haven't missed them. Trajectory is I believe doing it all. halscope, without a base-thread, isn't that usefull for observing transients when its sample rate is only one kilohertz. I may double that if I see I have cpu left when this is done. I can spin the dial fast enough to make it skip counts at 1 kilohertz for the servo thread, and I don't like that thought when my micrometer says I need to take off another .0073" and I'm trying to dial that up to do a fresh touch-off. It won't be turning that fast when setting that, but still... > and also > the falling edge of axis.0.amp-enable-out > (they may have changed this to joint.0.amp-enable-out for > 2.8) to trigger the scope when it gets the following error. > You could also look at the velocity for that axis from the > encoder function. That might tell you what the cause of the > error is. > > > Related Q: Is there an accel limit in the .ini file that > > applies to a jog-count or jog-scale input? > > Yes, the axis/joint limits are applied to any jog command, > so you can overrun the velocity of the joint, and then be > surprised when the axis keeps on moving after you stop > jogging. As far as I know, both velocity and acceleration > limits apply to jog moves as well as MDI/program moves. > > Jon > > > ---------------------------------------------------------------------- >-------- Check out the vibrant tech community on one of the world's > most engaging tech sites, Slashdot.org! http://sdm.link/slashdot > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) Genes Web page <http://geneslinuxbox.net:6309/gene> ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
