Disabling STEPGEN_MAXACCEL ?

Wirewrap
Topic Author
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Senior Member

9 years 9 months ago #86741 by Wirewrap

Disabling STEPGEN_MAXACCEL ? was created by Wirewrap

In a PnCConf generated setup with a 5i25, what are the consequences of disabling STEPGEN_MAXVEL and STEPGEN_MAXACCEL like so:

Code:

MAX_VELOCITY = 40.0
MAX_ACCELERATION = 100.0
STEPGEN_MAXVEL = 0.0
STEPGEN_MAXACCEL = 0.0
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0

When I try it I see no obvious bad things happening.

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PCW
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9 years 9 months ago #86747 by PCW

Replied by PCW on topic Disabling STEPGEN_MAXACCEL ?

Theres not much advantage to setting STEPGEN_MAXACCEL with the PID based stepgen scheme

Its important for direct position mode as the driver doesn't deal well with host servo thread jitter
but the PID mode is more robust WRT jitter

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