On 04/12/2014 08:18 AM, Philipp Burch wrote: > Anyway, figuring out the maximum with a servo system > should be easier, at least if your hardware can handle the > maximum torque of the drives. Just set the acceleration > limit to some insanely large value (100'000mm/s^2 or so) > and then do a G0 move with one joint at a time while > logging the encoder feedback with halscope. You'll > probably need to temporarily raise your FERROR and > MIN_FERROR to about the magnitude of the move for this. Mr. Frey indicated he is using Gecko 320-series drives, so he may not have any way to read high encoder rates on his system. (If he's using hardware step generation, then he may be able to.) But, with just a simple breakout board, it could get difficult. Depending on model of Gecko drive, they may not fault out until 128 encoder counts of following error develops.
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