soft limits different after power cycle

Hi Petr.
Commenting that out seems to have aggravated the resonance like problem. I am back to having the motor freeze up when it gets near the commanded speed.
Going back to open loop by commenting out:
net y-pos-fb <= hm2_5i25.0.encoder.01.position
net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable

and un-commenting:
net y-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
net y-pos-fb => axis.1.motor-pos-fb

seems to eliminate the problem.

I am wondering if my choice of encoder per is grossly too high and causing the stepper module in the 5i25 to be jittery and screwing up the Gecko G202. Encoders are 2000ppr, so with quad counts, it is 4x the steps per unit.

Is there a place I can find documentation of all the pins for the 5i25 presented to HAL, including options for each?
A man page?

You very likely have to reduce the P term after removing the PID error limit for closed loop via encoder mode
too much P term is what will cause jiiteryness in the stepgen

I'm not sure I understand what you mean by "having the motor freeze up when it gets near the commanded speed"
The motor should always be running at the commanded speed, do you mean maximum speed?

As far as encoder resolution goes, the higher the better

The hostmot2 manual page has most of the firmware pin names:

man hostmot2


If you change the hal file in that manner you are using open loop mode (so P can go back to being 1000)

Could I be screwing up the PID by feeding it both vel-fb and pos-fb?

Ray

vel-fb is a no-op if you have a 0 D term ( and you probably should leave D at 0 )

This afternoon, I isolated the step motor from the machine, set lcnc up for open loop, and tested.
I have a very bad resonance problem!
Now I need to figure out the cause.
the Chineese step motor, or the Gecko G202.