Emco PC turn 55 upgrade..

[TRAJ]
AXES = 3
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 2.50
MAX_VELOCITY = 25.00
NO_FORCE_HOMING = 1

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_WITH_SPINDLE_ON = 1

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 35.0
FERROR = .01
MIN_FERROR = .01
MAX_VELOCITY = 15.0
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXACCEL = 1500
STEPGEN_MAXVEL = 18
P = 2000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 2500
STEPSPACE = 2500
STEP_SCALE = 2000.0
BACKLASH = 0.016

I had not been considering the speed in TRAJ, which is set to 25mm/s(50,000steps/s). I was just reducing the speeds under the axis to 15mm/s(30,000steps/s).

Anyway I think I'm going to change the microstepping from 25 to 5.

I have the 6i25 with 7i76, and the original 3-phase steppers.

turbo wrote: I have the 6i25 with 7i76, and the original 3-phase steppers.

In that case, why are we even talking about BASE_PERIOD?

I am just trying to understand why I am getting following errors.

One reason is that you have the P term higher than /1 servo period
This means the PID control loop will be unstable (since it will over-correct)

You also have rather extreme acceleration relative to your velocity
( 0 to full speed in 20 ms! )

What do you mean higher than /1 servo period. The PID values are unchanged from pncconfig.

Since you have a 1/1000 second servo period, the maximum P value should be 1000
AFAIK the current pncconf sets this correctly, but in any case it should be fixed in your ini file