Hi,
the past week(s) I have been working on getting my hostmot2 system
running with the Mesa 5i20 card and stepper motors.
Up to a certain point this is a success. But there still is this problem
with joint following errors - whatever I try I keep having joint
following errors.
I tried different values for all kinds of parameters but things only
seem to work reliable when I put in extreme high numbers for the
MAX_ACCEL values (1000 instead of the wanted 100). Then I do not see any
joint following errors but the abrupt start/stop of the machine is not
good for the mechanics...
The parport configuration on the same machine runs perfectly well with
MAX_VELOCITY=25 and MAX_ACCELERATION=100 (mm/s) but the hostmo2
configuration keeps having problems.
I tried lots of different timing where BASE_PERIOD,SERVO_PERIOD and
TRAJ_PERIOD are small, larger, different values or the same but nothing
seems to help.
I am getting kind of desperate. With the 5i20 hostmot2 configuration
things only are working as long as I keep my jog under ~400 mm/min as
soon as I go higher (and up to the max 1500 mm/min) the joint following
error appears on any of the axis as soon as I jog by repeated presses of
the keyboard jogs quickly after each other.
What causes this joint following error and how to fix it?
Regards,
Rob
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