On Tue, Mar 09, 2010 at 05:43:06PM +0100, Gerhard Gleixner wrote:
> When I use the jog button, the motor is moving with 2/3 of the velocity
> displayed in upmost field of the dialog.
>
> Is this an intentional behavior or a bug ?
The motion part of stepconf is run by steptest.comp. In its jogging
mode, it continually sets the target point just beyond the current
point:
if(jog_minus) {
position_cmd = position_fb - maxvel * fperiod;
} else if(jog_plus) {
position_cmd = position_fb + maxvel * fperiod;
the actual position is then limited by stepgen, which has its max
acceleration parameter.
My assumption when I wrote that was probably that it would reach the
'maxvel' speed, but I guess it doesn't. I'm not immediately sure why.
I'm not sure this behavior really matters -- "jogging" is to get to a
safe place to "run" from, and not supposed to be the result of the test.
On the other hand, I have no idea if users know that.
The next thing I'd try is making the magnitude of the value added to fb
larger, something like this:
diff --git a/src/hal/components/steptest.comp b/src/hal/components/steptest.comp
index 4c78947..7c54efd 100644
--- a/src/hal/components/steptest.comp
+++ b/src/hal/components/steptest.comp
@@ -65,9 +65,9 @@ if(run) {
}
} else {
if(jog_minus) {
- position_cmd = position_fb - maxvel * fperiod;
+ position_cmd = position_fb - 2 * maxvel * fperiod;
} else if(jog_plus) {
- position_cmd = position_fb + maxvel * fperiod;
+ position_cmd = position_fb + 2 * maxvel * fperiod;
} else {
position_cmd = position_fb;
}
stepgen will still be limiting the maximum velocity and acceleration,
so it won't exceed the given velocity even if the target is out of reach
in the next servo cycle, but maybe by putting the target position further
away will make it reach maxvel. In a little standalone testing (not
using stepconf) it looks like this works, as does 1.5 * maxvel. Can you
let me know if this change works for you?
Jeff
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