tune stepper function

I assume when you say hal-show you mean halmeter.

what ever - I only talk about windows created by pncconf.
I don't know, who creates the windows with title "hm2_5i24.0.stepgen.07.position-fb" and "hm2_5i24.0.stepgen.07.velocity-fb". I assumed, that some hal function created that window and the only hal function to show pins I know about is hal-show. I'm sorry, if that is wrong.
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and the slow part of the test is this:
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Anyway ...

its obvious to see, that Hal-Meter does not reflect the configured top-speed (beside the fact, that the value -6000 is anything but not speed rpm - right label would be something like degrees/minute).
"velocity-fb"- value of -100 will most probabely be mm/second.

None of the values is related to the topspeed of 12000 degree/minute.

by the way:
Hal oszilloscope is shown, but its impossible to select anything useful.


With an acceleration of 100 degrees/s² I was able to hear (and watch) the ramping.
Interestingly the acceleration is not steady/smooth - there is some break impuls during acceleration.
Opposed to that deceleration is steady/smooth.

What stepgen number are you using?
I may be jumping to conclusions but i seem to see a difference depending on which stepgen i use. stepgen 0 seems to only respond when the numbers go really low and the max velocity will affect acceleration.

I used stepgen 3 also and it seemed to respond properly.
I'd need to test more to confirm/draw conclusions.

Also, can you describe the problem with halscope?
it's a 1000 times better then looking at halmeter.

for reference I'm using a 7i92 and 7i76 card probably standard 7i76 firmware.
Chris

Hi Chris,
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What stepgen number are you using?

I have a firmware with 10 stepgen modules and I plan to use all of them. That means, any number from 0 to 9
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Also, can you describe the problem with halscope?

Hm, I expected to see anything right of the box, but it shows nothing.
... and from combox at the bottom I can't select anything (combobox is empty). So I don't know, how to use that window.

I use the 5i24 with the firmware I sent you the mesa output from.

What stepgen number are you using?

I meant what stepgen were you using when you saw the failure to increase velocity.
In my test I'm seeing different behavior with different numbered stepgens.
for me - stepgen 0 showed bad behavior stepgen 3 did not. -suggesting that possibly the firmware/driver for stepgens is buggy.
It would be helpful if you could confirm this on your side.

halscope:
There is no combo box in at the bottom of halscope - there is a button for selecting pins.
but you may need to select a channel number (button) first.

I meant what stepgen were you using when you saw the failure to increase velocity.

on the current slot used I have stepgen 6-9 and I used 7 for rotary axis and 8 for linear axis.
So 7 showed the weird acceleration.
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There is no combo box in at the bottom of halscope - there is a button for selecting pins.
but you may need to select a channel number (button) first.

I'll check that later. Its to early to do hardware tests

I was able to bring halscope into play
This is what I was talking about:
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This speedcurve is right for stepper tuning. But it would be helpful, to get some recomendations about what to do or a rating about current settings.

This way I see the curve, I know, it should be different, but I don't know what to do or what parameters to change ...

Whats your servo period set to?

I used default - 1ms I guess

I did some more tests and it looks like speed reported by halmeter is correct.
That means, that someone acts as limiter.

I changed max speed from 12000 to 6000 and there was no difference in sound or scope curve.
When I reduced speed below 6000 sound and scope change output.

Then I started a halshow in parallel to pncconf. In halshow I selected to watch hm2_5i24.0.stepgen.07.velocity-cmd which showed the "real" speed, the motor should run. But due to the unknown limiter, that value does not reach hardware.

Real speed means, when I selected 12000 in testpanels combobox, velocity-cmd rised upon 211, which is bit higher than my expectations. Then I entered 15000 in combobox, but motor worked stil without problems.
If the driver would be fired with matching steprate to velocity of 15000, the driver would produce some errors, as that speed is out of specs.