Double X-Axis gantry problems
Also, have you run a latency test on this machine? large latency can cause apparent ferrors
The latency values were 10130 for both threads.
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[edit] I did have an acceleration rate of 50mm/s^2 but I turned it down to check the problem and may not have turned it back up in the attached file [/edit]
You will have to advise which of the MAX_ACCELERATION figures in your zip are current.
The ones in your .ini file are bizarre, X 1mm/s/s, Y 100 mm/s/s, Z 300 mm/s/s, A 1 mm/s/s.
100 is probably at least 3 times too high for a small stepper machine, I would advise try setting all of them to 15-20 mm/s/s and test from there.
Also note that your servo period is the default 1,000,000.
As you are using an external pulse generator, not sure if this doesn't need bringing down, PCW would be best to advise, I have no experience with the Mesa boards
regards
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I have now changed the FERROR and MIN_FERROR values so that they are the correct way round. I have also reduced the acceleration and made the values the same in the ini and hal files.
The machine will function correctly without giving any joint follow errors in joint mode, in MDI mode and it will excecute programs correctly without any problems but I am still unable to jog in world mode as I get joint follow errors if I try and move anything other than very very slowly.
My current config is attached.
Thanks again,
Chris
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I made the problem go away by setting the stepgen maxaccel parameters to 0 in the HAL file.
However I seem to recall PCW saying that that was a bad idea.
It is, anyway, a bad idea in this case because the underlying problem is that there is _no_ acceleration limit applied when jogging in your config.
I am not sure why that would be, as there definitely is in a trivkins, and gantrykins is just a slightly complicated trivkins.
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You need an entry in the [TRAJ] section of your INI file
[TRAJ]
...
DEFAULT_ACCELERATION = 20
...
Actually, all your accelerations seem a bit low really. Also, your stepgen-maxaccel values in the HAL file need to be 25% higher than the axis accelerations.
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I also don't see that entry in the gantry sample config... should it be there?
I also just tested the gantry config and it jogs fine in world mode so it there more to it than meets the eye? The only thing funny is the A axis shows up in world mode but does nothing it seems.
John
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It is there in the INI config, but perhaps not stressed.Andy is there something that needs to be in the manual about this?
I think so.I also don't see that entry in the gantry sample config... should it be there?
Try sliding the speed slider to max and try again. It f-errors when you release the button.I also just tested the gantry config and it jogs fine in world mode
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