7I90HD with Raspberry pi and getting weird joint 0 following errors

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5 years 8 months ago #199847 by creisey
7I90HD with Raspberry pi and getting weird joint 0 following errors was created by creisey
Hi i have a question i have a XXYZ config

the attached one is working without the error, but the homing takes forever
Code:
[AXIS_X] MAX_VELOCITY = 200 MAX_ACCELERATION = 300 MIN_LIMIT = -9999.0 MAX_LIMIT = 9999.0 [JOINT_0] TYPE = LINEAR # Set Stepgen max 20% higher than the axis STEPGEN_MAXVEL = 250 STEPGEN_MAXACCEL = 375

as long as i have MAX_VELOCITY & MAX_ACCELERATION in the Joint section the homing is quick as usual but after some movements i run in a joint error. > check example below
Code:
[AXIS_X] MAX_VELOCITY = 200 MAX_ACCELERATION = 300 MIN_LIMIT = -9999.0 MAX_LIMIT = 9999.0 [attachment=35102]iosi.hal[/attachment] [attachment=35103]iosi.ini[/attachment] [JOINT_0] TYPE = LINEAR MAX_VELOCITY = 200 MAX_ACCELERATION = 300 # Set Stepgen max 20% higher than the axis STEPGEN_MAXVEL = 250 STEPGEN_MAXACCEL = 375

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5 years 8 months ago #199848 by Aciera
Replied by Aciera on topic 7I90HD with Raspberry pi and getting weird joint 0 following errors
Note that your STEPGEN_MAXVEL is actually more than "20%" higher than the axis.
So maybe try reducing that bit.

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5 years 8 months ago - 5 years 8 months ago #199850 by creisey
Replied by creisey on topic 7I90HD with Raspberry pi and getting weird joint 0 following errors
i tried that with 20% as well. same effect...
funny thing is there are examples with 20% and 25%

Code:
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
Last edit: 5 years 8 months ago by creisey.

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5 years 8 months ago #199852 by Clive S
Replied by Clive S on topic 7I90HD with Raspberry pi and getting weird joint 0 following errors
Re this:-

HOME = 0.000
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -10 This is the speed it will search for the home switch
HOME_LATCH_VEL = 2.5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2 if you want gantry squaring this has to be a -ve number

# these are in nanoseconds
DIRSETUP = 2500
DIRHOLD = 2500
STEPLEN = 2500 might have to increase these
STEPSPACE = 2500

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5 years 8 months ago #199856 by creisey
Replied by creisey on topic 7I90HD with Raspberry pi and getting weird joint 0 following errors

Clive S wrote: Re this:-

HOME = 0.000
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -10 This is the speed it will search for the home switch
HOME_LATCH_VEL = 2.5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2 if you want gantry squaring this has to be a -ve number

# these are in nanoseconds
DIRSETUP = 2500
DIRHOLD = 2500
STEPLEN = 2500 might have to increase these
STEPSPACE = 2500


right those values are getting read while i set MAX_VELOCITY & MAX_ACCELERATION in the [JOINT_0] section, but if they are missing the search velocity is set to very slow value. after the slow homing process, jogging is working without the sudden following errors.

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5 years 8 months ago #199857 by Aciera
Replied by Aciera on topic 7I90HD with Raspberry pi and getting weird joint 0 following errors
Have you tried reducing velocity and acceleration by say 50% ?

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