Alex Joni wrote:
> You didn't say what emc2 version you're using.
> hm2-stepper has been reworked for 2.3.0, so you might have better success
> with that.
>
Yes, I am using 2.3.0. The version I compiled from CVS end of last week
so the one without the humming and dithering in the motors.
> * you can run the hm2 stepgen with the same limit as emc2 (this has caused
> some issues with jogging, where the machine accelerates at max_accel
> * you can run the hm2 stepgen with some headroom on accel (setp
> m5i20.0.stepgen.0.max_accel [AXIS_0]STEPGEN_MAXACCEL <- or something like
> that).
I got thinking about this when I walked home last night from my toolshop
(even before reading the tips I got).
Currently I have my m5i20.00.stepgen.0.maxaccel etc. settings all the
same as the AXIS_0[MAX_ACCELERATION] setting in the ini file.
I may have missed the part in the documentation where it is explained
that the values from the AXIS setting sections in the ini file are used
by the EMC trajectory planner and the m5i20.00.stepgen.0.maxaccel values
are used by the stepgen controller in the FPGA. If there is a timing
difference between the two, EMC could trip the joint following error
when the 5i20 lags behing. This is explained in the servo section but
not mentioned for steppers - and I now got to the point where I
understand that the hostmot2 steppers are fully controlled by the
stepgen controllers in the FPGA and act like a servo system towards EMC.
I was tempting to walk back and try but at that time is was 11 pm. Now
it is about 5:30 am and I still have to do some homework for a course I
am having this week ...
So next thing to do is to set the m5i20.00.stepgen.0.maxaccel/maxvel a
bit bigger and see what happens.
Thanks,
Rob
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