Dear Charles,Schooner, Bas de Bruijin, Due to time lag and working, sorry for late reply.
could it be that instead of 4 rev/mm you have a reduction of 4 mm/rev ? > that would mean 100 full steps/mm and might make more sense. > First of all, I make mistake that is should be 4 rev/mm. So I change scale to 100. As Charles comment: "Almost certainly. With a scale of 1600, and a maximum velocity of 200, your maximum step pulse rate would be 320,000 KHz, and with your acceleration of 3000 mm/s/s, you'll get there pretty quick. The default PRU settings result in a maximum pulse speed of about 50 KHz, so you need to either reduce the maximum allowed velocity or decrease the PRU cycle time (or both). " May I guess in this comment 320,000 KHz should be 320KHZ, is it? If PRU maximum pulse speed is 50KHZ, the max speed is 500? Because scale 100* 500=50KHZ. I am not very sure about Schooner said "Try increasing dirhold / dirlen to 1us and steplen / stepspace to 5us If that cures it, try reducing the figures towards the chip specs until you hit problems" Anyhow I tried to change ini file, i am not sure. But it seems no affect. # these are in nanoseconds DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 5000 STEPSPACE = 5000 About speed, yes, i shift one decimal left as follow: TYPE = LINEAR MAX_VELOCITY = 20.0 MAX_ACCELERATION = 300.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 24.0 STEPGEN_MAX_ACC = 360.0 > SCALE = -100 > It works much better than before, but motor still stall when execute G00. Speed still too high? where to set G00 speed? 20.0 is only stand for feed speed? Then when motor change rotate direction, speed decrease to zero, around Zero motor start move step by step, make vibration and noise. It seems it doesn't work well at low speed. It will be much clear if i can post video here. Thanks for anymore tuning methods! -chengxi -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.