Advanced Search

If I set output_scale to 52, I immediately get following errors even with a ferror of .5.
The motor wants to drift.
I had it working, but not great with the output_scale at 10.


[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 5
MAX_ACCELERATION = 10.0
P = 0.1
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.003
MAX_OUTPUT = 0
ENCODER_SCALE = 960
OUTPUT_SCALE = -52.35
MIN_LIMIT = -3.0
MAX_LIMIT = 300.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 3

Looks like a maybe a major EMI or grounding issue.
Your odd voltmeter reading also suggests this.

Are the step/dir drives near the 7I96S?
How are step/dir wired to the drives? (single ended or differential)

Long story short , new to me, milling machines built around 2006-2010 . Computers are password protected ( guy was a real tinfoil hat )  I have issues that i can not rectify with out killing the install anyhow.  Only input to the computers is USB , no disc drives , no ethernet or modems. 
     The original install is emc2 , 2.4.6 , Ubuntu 10.4 , Kernel 2.6.32-122-rtai . Computer is Intel Atom 1.66GHZ , 800MHZ Memory , 2048MB RAM.
Is the computer good enough for modern version? 
          I have all the pin maps for the machines. Most of the Schematics . Any recommendations would be great , this crap is so old , no one can gi

 What is the safest and Easiest to install . just keep it simple for an dummy!
Just tired of wasting time with this , Im Not a real computer expert either . Appreciate the help guys .