While I was getting the replacement servo on the BP to work I wanted to update the configuration using what I have been reading on the forum to end up with FF1 == 1.
X and Y axis work fine, however Z will just jump back and forth when I try and jog it. Z seems fine if I comment out the analogout2-scalemax, analogout2-minlim and analogout2-maxlim in the hal file.
X and Y have the same ratio of 1 to 0.667 with 0.200" per rev ballscrew and 2400 RPM servos. I calculated the maximum velocity for them to be 5.333. per second
Code:
ENCODER_SCALE = -30000
OUTPUT_SCALE = 5.333
OUTPUT_MIN_LIMIT = -5.333
OUTPUT_MAX_LIMIT = 5.333
The only difference on Z is the ratio which is 1 to 0.566 and I calculate the maximum velocity per second of 4.444.
Code:
ENCODER_SCALE = -35500
OUTPUT_SCALE = 4.444
OUTPUT_MIN_LIMIT = -4.444
OUTPUT_MAX_LIMIT = 4.444
I've attached the ini and hal files as well as the spreadsheet I used to get my numbers.
Thanks
JT
