> > I suspect that you are not using the DPLL, or that it is not setup properly. > For a RPI4 I would suggest these settings: > > > setp hm2_7i76e.0.dpll.01.timer-us -200 > set hm2_7i76e.0.stepgen.timer-number 1 > > These should reduce the stepgenb position sampling jitter to a > fraction of 1 usec.
Thank you, Peter. I will check and see what the configuration looks like later when I get home. Is there any documentation on how this works? Also, what are the implications of increasing the dpll timer period? If I can get away with 2ms servo loop, should I set this to 400us? @Sam. Sorry. I attached the .ini file twice and didn’t attache the .hal file. I’ll do this later too. @Chris. Thank you for the suggestions. I believe I am aware of how harmonics affect stepper motors. Harmonics induced vibrations stand out as the noisy periods on a slow acceleration, such as when drawing a circle. It’s not that. It’s not harmonics at all. It’s irregular noisy shaking. It happens at all speeds, but at the lower speeds it’s less obvious because there is less inertia in the system. > Maybe try going back to P=1000 but drop the axis, joint and stepgen > maxaccel down a bit. @Andy I actually tried that first, with no success. _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
