You have lots of margin in step frequency:
Currently at 8.33 IPS*13229.1662 you will have a
~ 110.200 KHZ square wave on both A and B.
This gives you your ~440 KHz step rate, since the
drive steps on all edges of A and B.
And yes, you can use encoder feedback simply by swappiing
hm2_7i92.0.encoder.NN.position
with
hm2_7i92.0.stepgen.NN.position-fb
and connecting
hm2_7i92.0.encoder.00.velocity
to pid.nn.feedback-deriv
You have lots of margin in step frequency:
Currently at 8.33 IPS*13229.1662 you will have a
~ 110.200 KHZ square wave on both A and B.
This gives you your ~440 KHz step rate, since the
drive steps on all edges of A and B.
STEPGEN_MAXVEL is unchanged when backlash is used
And yes, you can use encoder feedback simply by swappiing
hm2_7i92.0.encoder.NN.position
with
hm2_7i92.0.stepgen.NN.position-fb
and connecting
hm2_7i92.0.encoder.00.velocity
to pid.nn.feedback-deriv
Note that the PID tuning will be quite different
Ack hit quote instead of edit sorry for the double post
What would be the advantage of using Quadrature input over step+dir?.
I'm currently trying to decide what would be the best option. I have a set of delta A2L drives with mesa 716E+7I85 boards. Everything is wired up and now starting to put together the configuration.
In the future I want to make it a full-closed loop system by fitting the mill with scales. For now I will probably feedback the servo encoder output. Also want to use the home to index function if this is possible.
Quadrature has the advantage of not needing step time settings
(they can all be set to say 50) and having possibly higher step rates.
(4x higher than step/dir at the same minimum pulse width)
That is, if a drive had a 1 usec minimum high and 1 usec minimum low
step pulse specification, that would limit the step rate to 500 KHz
with step and dir but quadrature could reach a 2 MHz step rate with
the same timings.
