Help with homing on dual axis PlasmaC

Please see the vid for the problem with the homing one side stutters and and the other side is fine and homes without stutter.

The motors are closed loop servos. The machine is grounded correctly.

After it homes it jogs perfectly at 15M/min


There is no binding on the screw

could it be this setp pid.y2.maxerror .0005

is the debounce correctly setup ?

You haven't connected the debounce outputs, instead of:
you need something like: you could probably also setp the debounce delay a lot lower

phillc54 wrote: You haven't connected the debounce outputs, instead of:

Code:

net home-y => joint.0.home-sw-in and net home-y2 => joint.0.home-sw-in

you need something like:

Code:

net home-y-out debounce.0.0.out => joint.1.home-sw-in and net home-y2-out debounce.0.1.out => joint.2.home-sw-in

you could probably also setp the debounce delay a lot lower

Thanks Phill

Are the timings for debounce in nano or usecs

Clive S wrote: could it be this setp pid.y2.maxerror .0005

Those lines should be deleted or omitted, in most cases.

Clive S wrote: Are the timings for debounce in nano or usecs

I believe they are servo periods, so usually 1 mS per period.

tommylight wrote:

Clive S wrote: could it be this setp pid.y2.maxerror .0005

Those lines should be deleted or omitted, in most cases.

@Tom
Do they cause issues? I see that I have the same in my config.

phillc54 wrote:

tommylight wrote:

Clive S wrote: could it be this setp pid.y2.maxerror .0005

Those lines should be deleted or omitted, in most cases.

@Tom
Do they cause issues? I see that I have the same in my config.

I have seen PCW say delete them many time for stepper configs not sure about close loop servos

Clive S wrote:

phillc54 wrote: You haven't connected the debounce outputs, instead of:

Code:

net home-y => joint.0.home-sw-in and net home-y2 => joint.0.home-sw-in

you need something like:

Code:

net home-y-out debounce.0.0.out => joint.1.home-sw-in and net home-y2-out debounce.0.1.out => joint.2.home-sw-in

you could probably also setp the debounce delay a lot lower

Thanks Phill

Are the timings for debounce in nano or usecs

Is this correct then:-

# --- HOME-Y ---
net home-y <= hm2_7i96.0.gpio.003.in_not
net home-y debounce.0.0.in

net home-y-out debounce.0.0.out
net home-y-out => joint.1.home-sw-in

Clive S wrote: Is this correct then:-

# --- HOME-Y ---
net home-y <= hm2_7i96.0.gpio.003.in_not
net home-y debounce.0.0.in

net home-y-out debounce.0.0.out
net home-y-out => joint.1.home-sw-in

Yep, that looks OK.

phillc54 wrote:

tommylight wrote:

Clive S wrote: could it be this setp pid.y2.maxerror .0005

Those lines should be deleted or omitted, in most cases.

@Tom
Do they cause issues? I see that I have the same in my config.

Yes on stepper systems, not sure about servo, but since it is a step/dir system, chances are they have to be removed. They case instability/vibrations/errors on position tracking. I got used to just deleting them.
PCW also showed when that line would be useful, but i can not find the topic, it was about 7 or more months ago.