Prototrak Plus Retrofit with Mesa 7i77 & 5i25 cards

Yes, max-accelleration and max-velocity are per-joint parameters in the INI file.

Yes simply change the MAX_ACCELERATION = N, under each [AXIS_N] heading in your ini file to a smaller number. From the looks of your Halscope plot I would guess it should be about 2/3-1/2 as large as it is now. I thought I had suggested this earlier but first I thought you should confirm that there wasn't a setting in the drive that was limiting your acceleration before resorting to dialing back the acceleration.

Todd, thanks for your help!!

Only if the bus voltage could be increased, I believe, and 75 is max.

many thanks!

Many, many thanks!

This is most recent hal trace of "y" axes. This was at 60"/min and max acceleration is at .9 (from 1.0). I will try .8 to see how much changes.

many thanks!

When you make changes to the ini file with a text editor. You have to exit Linuxcnc and restart it for those changes to take effect. (It doesn't look like your acceleration is changing.)

You can make temporary changes to an axis' max_acceleration while Linuxcnc is running by using halcmd (either from the command prompt or the Hal Config window) to setp the pin ini.N.max_acceleration to a new value (N=the axis number)

This is the last screenshots with .7 velocity and 25.0 acceleration:

with .8 velocity and 25.0 acceleration:

with .9 velocity and 25.0 acceleration:

I plan to try tomorrow, and fresh, use restart each time.

Many, many thanks!!