Learning about alternate kinematics (bipod)

Some guys at our hackerspace are playing with an inverted bipod wall drawing bot. This is just a mess-around experiment to learn about kinematics in linuxcnc. The actual configuration is machinekit on a beaglebone black with pololu drivers.

We have it jogging successfully in joint mode but it INSTANTLY throws a following error when switching to world mode. The error occurs even before we try to jog in world mode. The kinematics module was from dab77

Changing the axis parameters in the .ini file has no effect. Even setting them to ridiculously low numbers still produces a following error as soon as we switch modes. Where should I be looking for the problem?

Thanks.

the gap of velocity in joint or world mode is bigger ..... if you use axes interfaces try to set the slider to minimum rate ..... have you make a zero of axes in joint mode I supposed.

if other error occurs report it. .....in the dab_bipod.c the bx is set to 1980.0...... your bx is the same?

I'm not sure I understand everything you've suggested. bx in my version of bipod.c is still set to 1980. Axes 0 in the .ini file has a minimum of 0 and a maximum of 1980.

I have the feed override, jog speed, and Max velocity sliders all the way down to minimums. I've homed X and Y in Joint mode.

Still when I switch to world mode I get the following error immediately. Am I missing anything?

As a first step edit the INI to make both f-error limits bigger than the machine travel. This isn't a device that is going to kill anyone. Don't do this in your man-carrying robot arm.

in my test parallel kinematics robot ini file ....

I've been able to switch to world mode now which is a huge improvement. To do it, I had to have absurd numbers.
FERROR = 1000
MIN_FERROR = 1000

and the max acceleration slider all the way to zero. Once I switch, I can slide the max acceleration back up and it doesn't give another following error. I'm still playing with the FERROR numbers to see if I can get to something rational.

When I home, joint 1 and 2 are both at 990 which is what I'd expect. When I switch to world, it goes to 0,0 and when I switch back to joint mode it reads 0,1980.