Michael Haberler wrote: > > stepgen just does what axis tells it to do: > http://mah.priv.at/cgi-bin/viewvc.cgi/emc-syncmove/pos-cmd-steprate.png?revision=1.1&root=CVS&view=markup > > the wobble is already in axis.2.motor-pos-cmd so that takes stepgen > out of the picture IMHO > Well, the dbg_step_rate is not what I was expecting, it is the integration of a square wave, which gives a triangle wave. So, clearly the axis following logic is jamming accleration from max + to max - and cycling back and forth at just about a 2 Hz rate. It would probably work better if it just held one or the other until the axis got close into sync with the spindle. I still don't understand why the acceleration is reversing sign like that. Is there some integrator that has wound up so it overshoots the desired alignment of axis to spindle? Or, is it trying to get in sync, and finally the spindle has passed a full revolution, and then the logic is trying to sync up to the next revolution instead? I still don't quite get what is going on.
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