Rob Jansen wrote:
> So next thing to do is to set the m5i20.00.stepgen.0.maxaccel/maxvel a
> bit bigger and see what happens.
I think the above configuration change should fix the problem you're
seeing. Take a look at the "stepper/stepper_mm.ini" config, it
specifies both an [AXIS_?]MAX_ACCELERATION and an
[AXIS_n]STEPGEN_MAXACCEL. The MAX_ACCELERATION is used by the
trajectory planner and the STEPGEN_MAXACCEL is used by the stepgen
driver (in core_stepper.hal). STEPGEN_MAXACCEL is 4% higher than
MAX_ACCELERATION, this gives the stepgen enough headroom to catch up
when the trajectory planner takes off, and avoids the following error.
In the awesome future, the hm2 stepgen will have a mode where it blindly
follows the trajectory planner's command, trusting it to accelerate in a
reasonable way. But this isn't really ready yet.
Some other thoughts on the hm2-stepper config you linked in an earlier
email:
You dont need a BASE_PERIOD for hostmot2 - the base thread is in the FPGA.
Your SERVO and TRAJ periods are both 100,000 ns, which is pretty
aggressive, 1,000,000 ns is more typical. But if this works for you, great!
For AXIS_0, your steplen and stepspace are both 2500 ns, so your max
step rate is 200 K steps/second. Your scale is 640 steps/inch. This
gives a max speed of 200K/640 = 312.5 inches/second. Wow. But you're
specifying an [AXIS_0]MAX_VELOCITY of only 25... Something's not adding
up there. I didnt check the other axes.
--
Sebastian Kuzminsky
We need numbers, not adjectives. -- David MacKay
<http://www.withouthotair.com/>
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