Just talking from my experience, on my machine i got good result with ilowpass / multiply stepsize
setting for all axis:
MAX_ACCELERATION = 1100.0
If set Stepsize on mpg to 100 or less, it works very good. Even stepsize 500 worked, larger was not safe.
jog-counts and jog-scale can be set for all axis, only the enabled axis will move finally.
This config was made many years ago, thats all i remember
# The stepsize selected is always multiplied by 0.001
# ilowpass − Low-pass filter with integer inputs and outputs
# mult2 − Product of two inputs
Code:
loadrt ilowpass
loadrt mult2
addf ilowpass.0 servo-thread
addf mult2.xhc servo-thread
# Lowpass Filtering for mpg
setp ilowpass.0.gain 0.01
# IMPORTANT to keep ratio ilowpass.0.scale mult2.xhc.in1
setp ilowpass.0.scale 1000
setp mult2.xhc.in1 0.001
net jog-counts_in <= xhc-hb04.jog.counts => ilowpass.0.in
net jog-counts_out <= ilowpass.0.out => joint.0.jog-counts axis.x.jog-counts joint.1.jog-counts axis.y.jog-counts joint.2.jog-counts axis.z.jog-counts
net jog-scale <= xhc-hb04.jog.scale => mult2.xhc.in0
net scale_div_1000 <= mult2.xhc.out => joint.0.jog-scale axis.x.jog-scale joint.1.jog-scale axis.y.jog-scale joint.2.jog-scale axis.z.jog-scale
# Switch to mode.manual
net man_mode <= xhc-hb04.button-mode => halui.mode.manual
