> From: Robert Schöftner [mailto:[email protected]] > command number 110 > > Am Mittwoch, dem 06.05.2026 um 15:05 +0200 schrieb Marco: > > The actual problem (on all axes) is that I can jog once, twice maybe > > three times and then get: > > > > � joint 0 following error > > � emc/task/taskintf.cc 976: Error on joint 0, command number 108 > > > > The command number changes every time and of course the joint number > > if I try jogging the other axes. Any ideas? > > > > The PID doesn't do much, I and D gains are 0. It is mostly there to > compensate for jitter. The "feedback" is just the step-count from the > mesa-card internal step pulse generator, no real hardware feedback is > involved. So this will also happen exactly like this if the actual > motors are turned off. > > > Where does "P=300" come from? AFAIK in your case it should be 1000 for > a servo period of 1000 but I would be surprised if that would be the > cause of your problem, most of the heavy lifting should come from the > "FF1=1.0" term. > > I have a similar config (with about 5� max speeds) that works, the > other difference apart from P is that i have MAX_OUTPUT=0 and I didn't > define any backlash. > > -- > Robert Sch�ftner <[email protected]> >
I agree. My P=1000 on my system and the FF1=1.0 I wonder about your STEPGEN_MAXVEL and STEPGEN_MAXACCEL since you have Backlash set to 0.02 Here's a fragment from your INI file. [JOINT_0] TYPE = LINEAR MAX_VELOCITY = 16.6666666667 MAX_ACCELERATION = 200 # 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 = 33.33 STEPGEN_MAXACCEL = 250 BACKLASH = 0.02 The comment says 25% larger or if using BACKLASH also 100% for the STEPGEN_MAXACCEL. To make something 25% larger I'd multiply by 1.25 so STEPGEN_MAXVEL = 20.83 And 100% of 200 is 200 so STEPGEN_MAXACCEL = 400 Or have I misunderstood that? John _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
