Disabling STEPGEN_MAXACCEL ?

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26 Jan 2017 21:48 #86741 by Wirewrap
In a PnCConf generated setup with a 5i25, what are the consequences of disabling STEPGEN_MAXVEL and STEPGEN_MAXACCEL like so:
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 100.0
STEPGEN_MAXVEL = 0.0
STEPGEN_MAXACCEL = 0.0
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0

When I try it I see no obvious bad things happening.
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26 Jan 2017 22:37 #86747 by PCW
Theres not much advantage to setting STEPGEN_MAXACCEL with the PID based stepgen scheme

Its important for direct position mode as the driver doesn't deal well with host servo thread jitter
but the PID mode is more robust WRT jitter
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