Acceleration changes after homing

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20 Sep 2021 14:02 #221195 by spontarelliam
I set the MAX_ACCELERATION for each axis to values that work well, and when I change these values in my .ini file, I see a corresponding change in the actual movement as I jog around. But after I perform the homing operation, the acceleration in all axes suddenly becomes extremely low, and no amount of changing the MAX_ACCELERATION values seems to have any effect. Any advice on what causes this and how I might fix it? Thanks!

Below is my .ini file.

# This config file was created 2021-09-18 09:59:52.456082 by the update_ini script
# The original config files may be found in the /home/vectorspace/linuxcnc/configs/CNC-ROUTER-TABLE-2/CNC-ROUTER-TABLE-2.old directory

# Generated by PNCconf at Tue Oct  4 01:01:09 2016
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
# The version string for this INI file.
VERSION = 1.1

MACHINE = CNC-ROUTER-TABLE-2
DEBUG = 0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.500000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/vectorspace/Documents
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 1.250000
MAX_LINEAR_VELOCITY = 3.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 12.0000
MAX_ANGULAR_VELOCITY = 30.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = xyz
PYVCP = custompanel.xml

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[RS274NGC]

PARAMETER_FILE = linuxcnc.var
RS274NGC_STARTUP_CODE = G64 P0.015

[EMCMOT]

EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
#TWOPASS = on
HALUI = halui
HALFILE = CNC-ROUTER-TABLE-2.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]
MDI_COMMAND = G10 P0 L20 X0
MDI_COMMAND = G10 P0 L20 Y0
MDI_COMMAND = G10 P0 L20 Z0

[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.33
MAX_LINEAR_VELOCITY = 3.33
DEFAULT_LINEAR_ACCELERATION = 15.0
MAX_LINEAR_ACCELERATION = 20.0

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

#********************
# Axis X
#********************


[KINS]
KINEMATICS = trivkins coordinates=XYZ
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -60.0
MAX_LIMIT = 60.0
MAX_VELOCITY = 3.33333333333
MAX_LINEAR_ACCELERATION = 15.0 # Adam 4/14/21

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.03
MIN_FERROR = 0.0005
MAX_VELOCITY = 3.33333333333
MAX_ACCELERATION = 15.0
STEPGEN_MAXACCEL = 18.50
# these are in nanoseconds
DIRSETUP   = 200
DIRHOLD    = 200
STEPLEN    = 3500
STEPSPACE  = 500
#STEP_SCALE = 47996.0
# changed with new gecko driver 12/20 Adam S.
STEP_SCALE = 49150.0
BACKLASH = 0.002
MIN_LIMIT = -60.0
MAX_LIMIT = 60.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.166667
HOME_FINAL_VEL = 0.666667
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1

#********************
# Axis Y
#********************
[AXIS_Y]
MIN_LIMIT = -60.0
MAX_LIMIT = 60.0
MAX_VELOCITY = 3.33333333333
MAX_LINEAR_ACCELERATION = 20.0 # Adam 4/14/21

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 3.33333333333
MAX_ACCELERATION = 15.0
# these are in nanoseconds
DIRSETUP   = 200
DIRHOLD    = 200
STEPLEN    = 3500
STEPSPACE  = 500
STEP_SCALE = 11999.0
BACKLASH = 0.002
MIN_LIMIT = -60.0
MAX_LIMIT = 60.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -1.00000
HOME_LATCH_VEL = -0.166667
HOME_FINAL_VEL = 0.666667
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1

#********************
# Axis Z
#********************
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_LINEAR_ACCELERATION = 10.0 # Adam 4/14/21

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 1.0
MAX_LINEAR_ACCELERATION = 12.0 # Adam 4/14/21
# these are in nanoseconds
DIRSETUP   = 200
DIRHOLD    = 200
STEPLEN    = 3500
STEPSPACE  = 500
STEP_SCALE = 9975.0
BACKLASH = 0.002
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
#
HOME_OFFSET = 0.1
#
HOME_SEARCH_VEL = 0.500000
HOME_LATCH_VEL = 0.166667
HOME_FINAL_VEL = 0.316667
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

#********************
# Spindle
#********************
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25

[SPINDLE_9]
SCALE = 1.0 

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20 Sep 2021 14:27 #221197 by tommylight
Is that happening only on Z axis?

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20 Sep 2021 14:28 #221199 by spontarelliam
No, it happens to all three axes.

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21 Sep 2021 02:26 #221244 by PCW
MAX_ACCELERATION

Is missing from the axis sections
(and the axis values are used after homing)
I suspect the default MAX_ACCELERATION
value is 1, so pretty slow...

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21 Sep 2021 19:26 #221293 by spontarelliam
Ah you're right, adding MAX_ACCELERATION in the axis sections solved the problem. Thank you!

I suppose I got it confused with MAX_LINEAR_ACCELERATION somehow.

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