Hi, I have a pi4 running the 2.8.2 iso. I have it connected to a Mesa 7i96 and from there I’m driving small stepper motors with tmc2209 “stepstick” drivers. I think my step rate at max speed is around 8khz
I get around +-70us? Max latency. I’ve been having an issue with what I think is latency which makes the steppers sound like they have bad bearings. Raising the servo period to 2ms made it worse. So I tried a faster servo thread and discovered the issue pretty much goes away with the servo period at 250us. At that rate I start running into joint following issues. I then learned that with the servo period at 1ms, if I lower the stepper PID P parameter to 100 instead of the 1000 set by the configuration wizard, the noise goes away completely and the steppers run buttery smooth. I have a few questions: 1) what are the implications of running the PID stepper with p=100? 2) why is servo thread jitter even making into the stepper pulse train with a Mesa Ethernet card and no communication errors? Do I have anything misconfigured? Thanks _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
