Category: Basic Configuration
I am at a loss. I cannot get the stepper motors on my axes to run at the speeds they are set to run. The axis seems to run at 0.0001 in/sec, not 10 in/sec.
I have them hooked to Stepper Online DM542T drivers, so these are the values in the INI file.
# For the DM542T, these are 5 μs = 5,000 ns
DIRHOLD = 5000
DIRSETUP = 5000
# For the DM542T, these are 2.5 μs = 2,500 ns
STEPLEN = 2500
STEPSPACE = 2500
The DM542Ts are set to use 6,400 pulses / rev, and the leadscrew moves 8 mm per revolution. Thusly, I set the STEP_SCALE and ENCODER_SCALE using this calculation
- STEP_SCALE = 6,400 step/rev x 1 rev / 8 mm x 25.4 mm / in
- STEP_SCALE = 20,320 steps/in
For [AXIS_l]
TYPE = LINEAR
MAX_VELOCITY = 10.0
For [JOINT_#],
TYPE = LINEAR
UNITS = INCH
ENCODER_SCALE = 20320
STEP_SCALE = 20320
MAX_VELOCITY = 10.0
STEPGEN_MAXVEL = 12.50
Please help me understand what I am missing.
