Problem with "Joint 0 Tracking Error" and Real-Time Delay: Resolver-Based System
System:
LinuxCNC with PID control
Resolver-based feedback (no encoders)
3-axis machine (X, Y, Z)
The HAL/INI structure includes: Ibarmia core servo.hal, Ibarmia MotencMotion.hal, motenc.ini, etc.
Main Problem:
When attempting to move any axis (especially the X axis), I immediately receive the following critical errors:
Joint 0 Tracking Error
The axis does not move, and the error appears as soon as I attempt to move it, regardless of the velocity or acceleration settings.
Measures already taken:
Latency Test
Maximum jitter on the base thread: around 16,600 ns
Increased the BASE_PERIOD value from 50,000 to 100,000 to reduce RTAPI errors.
INI Tweaks
Reduced the MAX SPEED and MAX ACCELERATION values on [TRAJ] and [AXIS_0] to very conservative values:
MAX SPEED = 5.0
MAX ACCELERATION = 300.0
FERROR = 100
MINIMUM FERROR = 10
It appears to boot, but after 10 seconds, it fails.
