John, Matt isn't using a stepgen. The Pico USC board uses it's own step
generator. Stepgen expects a position command. As far as I can tell from
the USC docs the USC step generator expects a velocity command, hence
the need for a PID loop.
Matt, Do you happen to have a spare stepper and drive kicking about? If
so I'd suggest temporarily hooking it up to one axis. That at least
would let you figure out if the step outputs are doing what you expect.
I see the USC has an option to simulate an encoder instead of using the
physical encoder. Try this mode with the PID parameters in the Pico
systems example hal files.
Les
On 30/06/2021 05:32, John Dammeyer wrote:
That didn't work for me. I think it was Andy that clued me in that I had to
have P=0 and FF1=0 to disable the PID part of the LCNC. Since the servo drive
does it anyway and the acceleration (speed that step pulses change) is defined
by the INI file.
These are from my Spindle.
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 300.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 62.5
STEPGEN_MAXACCEL = 375.0
What type of drive is it and can you set the parameters easily?
John
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