On Thursday 16 March 2017 18:37:42 Gene Heskett wrote: > On Thursday 16 March 2017 13:48:51 sam sokolik wrote: > > 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) > > Humm. I believe I have that bass-ackwards in at least one place, > maybe both. > > I had TRAJ set for > MAX_LINEAR_VELOCITY = 1.250 > # 30 ipm > DEFAULT_LINEAR_VELOCITY = 0.5000 > MAX_LINEAR_ACCELERATION = 5.50 > > then AXIS X > MAX_VELOCITY = 0.70 > MAX_ACCELERATION = 3.0 > > [joint 0] > MAX_VELOCITY = 0.74 > MAX_ACCELERATION = 3.0 > # Set Stepgen max_accell higher than the axis > STEPGEN_MAX_VEL = 0.70 > STEPGEN_MAX_ACC = 4.50 > > [AXIS Z] > MAX_VELOCITY = 1.75 > MAX_ACCELERATION = 4.00 > [JOINT_1] > TYPE = LINEAR > MAX_VELOCITY = 0.9750 > MAX_ACCELERATION = 4.0 > # Set Stepgen max 20% higher than the axis > STEPGEN_MAX_VEL = 6.0 > STEPGEN_MAX_ACC = 7.50 > > So obviously those ratios are off. Most were determined by how fast I > can actually move that axis w/o stalls - 20% or so. And since the > joints conversion, no one has said if the [AXIS] assignments can be > dropped. Can they? ISTR having noted that I cannot write to a joint if > the axis input by the same name is used, but I CAN read the joint and > see what I wrote under the axis version of the name. > > In the meantime I've made the accels a bit more inline with that > recommendation, but I got sidetracked with a 7i90 problem and haven't > tried to elicit another error out of it. The 7i90 problem that > disables any 02 function is also killing some gpio pins. > > Or could, halshow can't access the hm2 stuff anymore. halscope and > halmeter can yet.
I found this problem, its not listed under hm2[HOSTMOT2](BOARD).0, but under the boards own name, and it scrolled on by so fast I didn't notice it. Another forehead slapper... > > And I'm fixing dinner, so I'd better go stir it. Later. > > > 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. > > > 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
