Which mode is best for new setups?

andypugh wrote: Which axis is slow? The Z?

Try removing this line from the HAL.
setp pid.z.maxerror .0005

Hi Andy, I removed that line by commenting it out but now when I watch the scope after any kind of move with a little speed on my Z, the f-error just floats like a wave up and down up and down continually, never settling out. It's kind of pretty to watch but not so good for CNC work.

I'm going to try something in there like 0.001 maybe?

Hi Christhopper,

Try to google minferror = 0.25
For pid this might solve your problem.

The hal pin(s) "joint.N.amp−fault−in" is one of the better options for connecting it.

Todd Zuercher wrote: The hal pin(s) "joint.N.amp−fault−in" is one of the better options for connecting it.

Thank you Todd, what would I set my Clearpath to report in this case? I was thinking that position might be nice since then even if I move the Z by hand it will know where it's at. Thoughts, suggestions welcome. I'm still learning on this so I appreciate the guidance.

I got my Z working perfectly though I suspect I need to get the slightly larger motor now. This one keeps squawking at me because of torque saturation. I was worried I might end up having to increase the size... well now I know. I guess I should have just gone with that larger one in the first place. -Live and learn. Now I will have another week delay that I caused myself. /sigh

Here are my HAL and INI files if anyone's interested. I have not yet hooked in the HLFB but I will soon!

Also here's a video of my fully working, now 3-axis machine! 3-Axis Video

I still think that the pid.z.maxerror value is wrong. It limits your PID output (ignoring FF1) to P * 0.0005 = 0.5mm/sec

Andy I had attached my new hal and ini files in my last message and have (as you suggested) commented out that line. Is there another one I'm missing now? I did try increasing it to 0.001 for a quick test but it wasn't the fix; so I have removed it completely as per your original suggestion. The attached files should reflect that unless I'm missing something else you're referring to in my HAL file?

I still see

crap I forgot to run my fix.

Should be identical but the deriv lines and that maxerror are commented out. Sorry! I have a script I run after I do pncconf.

I was testing backlash settings and just forgot to run my fix.sh script before attaching those files.

You've probably reached the point where going back and running PNCconfig is a waist of time. Just directly edit the hal and ini files by hand with a text editor.

The config wizards are great for setting up a rough skeleton of a machine configuration. But after that, hand editing is usually the best way to go for fine tuning it and making more specialized setups.

Yeah I will as soon as things get beyond what my quick "sed script" can fix. For not it lets me keep things 100% consistent. So I'm still unclear what I'll set in my clearpath motor to output on the HLFB for my input pins into LinuxCNC. It seemed like those pins were just looking for an error indicator but is there a URL someone can point me to for the finer details on this sort of feedback? -I'd like to better understand my options.