Prototrak Plus Retrofit with Mesa 7i77 & 5i25 cards

The reason I believe you are not actually changing the acceleration, is because the slope of the velocity command (purple line) is not changing. The slope of that line is your acceleration setting, and from those halscope shots it looks like your acceleration is set to approximately 30 ips^2.

Next time your working on this, open a HalMeter window, and If you are working on the Y axis check the value of the pin "ini.1.max_acceleration" (or for X use ini.0.max_acceleration).
Then using the "Test HAL Command" box in ShowHalConfiguration you can use the command "setp ini.1.max_acceleration 15" (or what ever number you choose) to test a new acceleration value for that axis.

Once you are happy with the results you can edit the ini file to make the change permanent.

Many thanks for all the help!!

Todd I will try this.
""Next time your working on this, open a HalMeter window, and If you are working on the Y axis check the value of the pin "ini.1.max_acceleration" (or for X use ini.0.max_acceleration).
Then using the "Test HAL Command" box in ShowHalConfiguration you can use the command "setp ini.1.max_acceleration 15" (or what ever number you choose) to test a new acceleration value for that axis.""


This is vel at .8 and acceleration at 18, closer.

When using "hal scope" there are times when the "trigger" will not work in "normal" need to use "auto" and jog when "trigger bar" is moving. I can tweak .ini file and come back and everything works, what am I missing?
Where the teal (light blue) overshoots the blue, what value am I looking for, or just try to keep the "pid.n.error" to the min amount as possible. I was thinking that lower velocity to .75 from .8.

Todd, I have reread your advise and can see how that saves time.

Many thanks!!

Set the trigger on hal scope to Source Chan 4 (axis.1.joint-vel-cmd) and you should get more consistent triggering.

I think increasing your FF1 should bring the following error (pid.y.error) while moving more in line (I think FF0 should probably remain 0)
Maybe a little more D and/or a little less P to try to tame the over shoot when reaching cruising speed.

Many thanks for all the great help!!!

This screenshot D = 24 P = 3300, too much D and pid.y.error goes way up.



this is D = 27 P = 3300 (this was .72 vel & 17 acceleration), there are several below, read the (72v17a is .72 velocity and 17 acceleration in .ini file) name of file for description of change.



The pid error is still high correct? How close am I?

Many, many Thanks!!!!

Interesting. Now try less FF1. Maybe 0.01