Category: Basic Configuration
With this config for rotary axis everything more than 30000 for max acceleration and 37500 for stepgen max acceleration gives following error.
Configuration is done by pncconf stepgen A rotary axis
Servo motor driver for 1 turn needs 2500x4=10000 pulses
and has 2500rpm limit
[AXIS_A]
MAX_VELOCITY = 12000.0
MAX_ACCELERATION = 30000.0
MIN_LIMIT = -9999.9
MAX_LIMIT = 9999.9
[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 12000.0
MAX_ACCELERATION = 30000.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 15000.00
STEPGEN_MAXACCEL = 37500.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 27.7778
MIN_LIMIT = -9999.9
MAX_LIMIT = 9999.9
HOME_OFFSET = 0.0
HOME_SEQUENCE = 4
#******************************************
