Biesse Rover 322 MESA retrofit

They have to be scaled:

OUTPUT_SCALE = 150
OUTPUT_MIN_LIMIT = -150
OUTPUT_MAX_LIMIT = 150

if I set the limits to +- 10, The 7I77 output voltages would be limited to
10/150 or +- 0.6666V

So in theory I should set OUTPUT_SCALE to 1250 and FF1 to 1.000?
(given that my machine is spec'd at 74 m/min)

The servo period reflects the crappy laptop I'm using for testing. Had to crank up the servo period and watchdog timeout to keep the link going. Will replace with a proper computer. Is the servoperiod biting me here?

I've been trying to follow your guide, but struggle as I don't get the error messages needed for the tuning. Also; I believe the acceleration for all axis needs to be considered before starting tuning, not just the jog speed. I mistakenly put in a way high number (copied from the original XNC config) and think I got lucky not stripping teeth of the servo gears. Quite violent.

tom_no wrote: So in theory I should set OUTPUT_SCALE to 1250 and FF1 to 1.000?
(given that my machine is spec'd at 74 m/min)

Output scale would normally be about 10% higher than the maximum design speed
This is to allow "headroom" so the PID can still command a higher speed even at the
machines maximum design speed.

Another way to say this is that at 10V, the machine should be moving about 10%
faster than its design speed

Makes sense, can't regulate when already at 100%.
That puts me at a outputscale of 1375 then.

Updated my configuration today and the machine immediately ran smoothly. Brings a tear to my eye.

Thanks Peter!

OUTPUT_SCALE = 1375
OUTPUT_MIN_LIMIT = -1375
OUTPUT_MAX_LIMIT = 1375
FF1 = 1.000


Video, in case it did not happen?