Sebastian,
I modified stepgen.c, about line 103 and 104 as follows:
if (s->hal.param.maxvel > fabs(max_pos_per_s)
s->hal.param.maxvel = fabs(max_pos_per_s);
On the development system, whch is not connected to hardware, the following error has gone away and it basically looks to be working. I can jog, for example and the values count off properly. I will move it over to the real machine and see if it works there.
Regards,
Eric
float min_ns_per_step = s->hal.param.steplen + s->hal.param.stepspace;float max_steps_per_s = 1.0e9 / min_ns_per_step;float max_pos_per_s = max_steps_per_s / s->hal.param.position_scale;if (s->hal.param.maxvel > max_pos_per_s) {s->hal.param.maxvel = max_pos_per_s;}
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