Am Mittwoch, dem 06.05.2026 um 15:05 +0200 schrieb Marco: > The actual problem (on all axes) is that I can jog once, twice maybe > three times and then get: > > joint 0 following error > emc/task/taskintf.cc 976: Error on joint 0, command number 108 > > The command number changes every time and of course the joint number > if I try jogging the other axes. Any ideas? >
The PID doesn't do much, I and D gains are 0. It is mostly there to compensate for jitter. The "feedback" is just the step-count from the mesa-card internal step pulse generator, no real hardware feedback is involved. So this will also happen exactly like this if the actual motors are turned off. Where does "P=300" come from? AFAIK in your case it should be 1000 for a servo period of 1000 but I would be surprised if that would be the cause of your problem, most of the heavy lifting should come from the "FF1=1.0" term. I have a similar config (with about 5× max speeds) that works, the other difference apart from P is that i have MAX_OUTPUT=0 and I didn't define any backlash. -- Robert Schöftner <[email protected]> _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
