So, it's an analogue servo system, so the problem could be this:
Code:
* pid: use command-deriv when supplied
In fact, I see this in your HAL:
Code:
net x-vel-cmd => pid.x.command-deriv
But it seems that you might have an error in your HAL as there is nothing driving that signal elsewhere in the HAL. so the velocity command will always be zero and your FF1 term will be ineffective.
So, possibly, an error in your HAL has been masked by a bug in LinuxCNC.
If you comment-out the pid.L.command-deriv lines then you should be back where you were.
Better might be to leave those lines in and add
Code:
net L-vel-cmd axis.N.joint−vel−cmd
for each axis. But that might require some re-tuning of the FF1 PID terms.
The explanation here is that the PID component was meant to calculate velocity command internally if the pin was not connected, and use the supplied value if it was. But it was always calculating it internally. This took some time to be noticed, as it works nearly the same.
