Core XY problems

I am working on getting a core XY machine working and I am running into some weired behavior where the machine is still moving once it finishes the commanded move. what is interesting is that when I watch the ferror for that axis it does show a decreasing value until the machine stops moving, So I know this actually the machine commanding movement and not just resonance or something like that.

I have 2 different sets of kinematics I have found (both attached)

I have been able to compile and load both and I am getting the same behavior

This is using a mesa 5i25 and a 7i76 with gecko 201x drives
movement in joint mode is exactly as expected

My first goal is to figure out the odd follow up movement I am also getting some following error if I try to move to fast but that will be the next problem I work on

I am working on doing a clean write up on how to get this working, so If I can get some help I am happy to give back to the community on this one

Thank You
Calvin

This is a pncconf bug

Changing all the maxerror settings to 0 should fix it:

setp pid.x.maxerror 0
setp pid.y.maxerror 0
setp pid.z.maxerror 0

I updated the hal file

I am getting different behavior now, it is more like jittering now and even small manual jogs are causing the carriage to keep moving after I stop jogging

I have added the updated hal file

Thank You
C

ok, I think the problem was actually in the ini file for the axis settings

these setting seemed have sorted it
I need to see if I can reduce the ferror values now

FERROR = 5
MIN_FERROR = 1
MAX_VELOCITY = 200
MAX_ACCELERATION = 5000
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 250
STEPGEN_MAXACCEL = 15000