Jeff,
I came to this point when I lost some time hunting ghosts, because it
seems I can reach higher motor speeds with test_axis in stepconf than in
EMC itself. Then I became aware that also in stepconf reachable speeds
are different, and only after a while it was clear that it depends if I
use the jog or the execute. And then I saw what really happens....
That means: It would also help to make clear indication that the jog
buttons do not move the motor with the speed setting, use the the
execute-button if you want really to test.
So if we are not sure how fast we will move with jog button, better
leave it as it is and add a warning flag ?
Not really sure what is better.
-Gerd
Jeff Epler schrieb:
> 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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