Rob Jansen wrote: >[snip] >After changing the units from inch to mm I had this 0.025mm/rev system >but it needed to be 2.5 mm/rev. >Changing INPUT_SCALE from 81920 to 819.2 made the encoders report the >correct travel, changing OUTPUT_SCALE from 1 to 100 made the same >scaling on the motor control so that now a 1 volt signal resulted in >2mm/s instead of 0.02 mm/sec > >But ... after reading your previous mail and re-thinking about the >FERROR and MIN_FERROR I have seen the light. >The 0.025 mm/rev system had 0.000012 mm/count on the encoder but with >2.5 mm/rev this now is 0.0012 mm/count. But a MIN_FERROR of 0.001 is >then of course smaller than the resolution of the encoder. >In order to have the same system as before I need to multiply both error >values by 100. > > Actually, it's not the encoder resolution that changed this, it's changing from inch to mm. FERROR is in user units, so you should scale the error limits by 25.4, not 100. Of course, 100 will work great, but probably isn't what you want :)
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