Hello,
After upgrading from 2.4.6(?) to 2.5.2, I'm getting a following error
on my Z axis. This
is a open loop stepper setup. The only way I could fix this is by setting
MIN_FERROR=1.
Previously is was 0.01.
The SCALE for Z is twice that of X and Y. I tried reducing the MAX_VELOCITY
from 2.5 to
1.0, but that didn't seem to help.
I'm using the Gecko 540 controller.
I noticed that the sample Gecko_540B3.hal dirHold and dirSetup are much
different from my
config:
setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 15200
setp stepgen.2.dirsetup 15200
My .hal has:
setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 1
setp stepgen.2.dirhold 2
setp stepgen.2.dirsetup 1
Any idea why the behavior changed with the upgrade?
I tested the latency again, and that is fine. Its less than 3000.
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 35000
SERVO_PERIOD = 1000000
X and Y axis are configured the same and works fine:
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 2.5
MAX_ACCELERATION = 10.0
STEPGEN_MAXACCEL = 20.0
SCALE = -10000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.1
MAX_LIMIT = 4.700
HOME_OFFSET = -0.1
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.025000
HOME_IGNORE_LIMITS = YES
BACKLASH=0.0115
Z Axis - I had to make MIN_FERROR much larger. Changed from 0.01 to 1.
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 10.0
STEPGEN_MAXACCEL = 20.0
SCALE = -20000.0
FERROR = 0.05
MIN_FERROR = 1
MIN_LIMIT = -10.200
MAX_LIMIT = 0.10
HOME_OFFSET = 0.1000
HOME_SEARCH_VEL = 0.050000
HOME_LATCH_VEL = 0.025000
HOME_IGNORE_LIMITS = YES
BACKLASH=0.0005
I set this up long ago, so I'm likely forgetting something :(
Thanks,
Andy
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