Since my upgrade to Debian Stretch with RT-PREEMPT Kernel on the BBB I have the following problem. When I start a program, I get a joint following error during the first move. The weird thing is that this happens only during the first program execution.
I also tried to use the MDI commands directly and could not reproduce the results. I'm not sure what could cause the problem. Did anyone else experience something similar? Of course, a quick workaround is to short-circuit the closed loop system by feeding back the pos-cmd to pos-fb without feeding it through the PRU stepper. However, that's only fighting the symptoms and not the source of the problem. My guess is that the program start causes a peak in system load which offsets the system execution vs the PRU execution a short amount of time. However, I have no clue why it should happen only once. Any guesses what might cause such a problem? -- Alexander -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
