I made another video with the new 3D printed pulley. Much better balanced as I made the inner hole and outside hub thicker and then bored and turned it to the correct diameter and concentric with each other. Now just shows the Z axis jogging up and down after homing. I still get the occasional following error but it seems that's a LinuxCNC issue and not the motor. Or it's electrical noise because the table is loaded down with two vices and a rotary table. I think close to 200 lbs extra. I'll have to weigh it. https://youtu.be/AJWI09C6h7U I've read through this thread. I'm using the MESA 7i92H which is Ethernet based and it's only the PC and the MESA on the network. https://forum.linuxcnc.org/10-advanced-configuration/27171-joint-2-following-error?start=10 Without all the extra weight on the table there is no following error. If I remove BACKLASH compensation there is no following error. It appears to go away if I make sure that the STEPGEN_MAXACCEL is set to double the MAX_ACCELERATION. My parameters are P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 PCW on that forum stated that "For PID control of the stepgen, the stepgen is put into velocity mode and a basic velocity mode PID setting is used (FF1 = 1.000, FF2 = .001 (servo period) P= ~150)" My SERVO_PERIOD = 1000000 So should FF2 be set to that? Or is the stepgen even in velocity mode and does it matter? What I don't understand is why extra weight made it show up. The AC Servo Drive is not showing an error and motor current rarely goes above 3.5A at 220VAC or about 770W. John
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