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net xpos-cmd <= joint.0.motor-pos-cmd => remora.sp.0 joint.0.motor-pos-fb
 

My pwm pin is remora.sp.0...7.
Can you write sample hal config lines for single axis. Dont know how and where i link joint.n.motor-pos-fb?

Net xpos-cmd <= joint.0.motor-pos-cmd => remora.sp.0
Net xpos-fb <= remora.sp.0 => joint.0.motor-pos-fb
Setp joint.0.amp-enable-out 1

I played around a bit with this and learned that  with such
extreme acceleration, the stepgen PID loop must be tuned
(with added FF2 and I term)

_BUT_ I wonder why you need such high acceleration.
30000 degrees/S^2 means you get to full speed (10000 degrees/sec)
= 1666.7 RPM in 1/3 of a second!

Thank you!

You should update whole LCNC to 2.9.4

@fully_defined
I'm sorry but I have grown tired of your antics. You have already been asked to leave once before and as you have stated ad nauseam that this forum has not been able to meet your expectations I would like to invite you again to find other places to seek whatever you are looking for.

thanks same error message with the modification