Disabling STEPGEN_MAXACCEL ?
26 Jan 2017 21:48 #86741
by Wirewrap
Disabling STEPGEN_MAXACCEL ? was created by Wirewrap
In a PnCConf generated setup with a 5i25, what are the consequences of disabling STEPGEN_MAXVEL and STEPGEN_MAXACCEL like so:
When I try it I see no obvious bad things happening.
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 100.0
STEPGEN_MAXVEL = 0.0
STEPGEN_MAXACCEL = 0.0
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0When I try it I see no obvious bad things happening.
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26 Jan 2017 22:37 #86747
by PCW
Replied by PCW on topic Disabling STEPGEN_MAXACCEL ?
Theres not much advantage to setting STEPGEN_MAXACCEL with the PID based stepgen scheme
Its important for direct position mode as the driver doesn't deal well with host servo thread jitter
but the PID mode is more robust WRT jitter
Its important for direct position mode as the driver doesn't deal well with host servo thread jitter
but the PID mode is more robust WRT jitter
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