On 05/25/2020 07:43 PM, Gene Heskett wrote:
Without PID's, where do we get a following error that we
can see on the halscope?
OK, WITHOUT a PID, then the step generators have a maximum
speed, set by (possibly)
BASE_PERIOD, step_width and step_space. If you set maximum
velocity in the ini file
above that limit, you will get following errors. So, you
have to know from the setup
of the step generators what the max speed is, and then be
sure to not set max velocity above
that. You should have no need to scope it, but you could
probably get this on most systems
by looking at the commanded position and the actual
position, if the step generator provides
this.
Jon
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