The stepgens (both in mesa and the software) have their own acceleration setting. you want this to be 20 to 30% higher than the motion planners acceleration. (when using the stepgen's in position mode)
when using high latency systems - then it is best to run the stepgens in velocity mode with PID. sam On 3/16/2017 12:33 PM, Nicklas Karlsson wrote: >>>>>>> There are no pid's used in this configuration Jon. Nor is >>>>>>> there a base-thread. Till now I haven't missed them. >>>>>> How do you get a following error without PID? >>>>> The difference between actual or measured position and position >>>>> reference value is large enough. >>>> And this difference, Nicklas, is reduced by lower accel limits, and >>>> a faster servo-thread I assume? Those I can fix. :) >>> Yes if you have some kind of feedback loop. >>> >> If there is, I'd say its hidden in "motion". I don't recall a coupling >> internal to the hal code. But I'll double-check as I've been >> concentrating on the other wheel related stuffs. > If you use stepper without feedback they are supposed to fit together > although I think there may be a small delay. > > ------------------------------------------------------------------------------ > 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 > > ------------------------------------------------------------------------------ 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
