Aciera wrote:

A word of caution to anyone testing the new planner on real hardware:

I would strongly recommend to NOT activate the new planner in the ini file.
I dropped my homing velocities to 20% and my real hardware setup still runs into the hard stops on homing.

Users should leave ini.planner_type = 0, home the machine and use halshow to set ini.planner_type = 1.

Aciera wrote:

I've been trying to test this on real hardware using Mesa but I cannot seem to get the new planner to work at all.

- [TRAJ] section has 'MAX_LINEAR_JERK = 1000.0'
- both [JOINT_0] and [JOINT_1] have 'MAX_JERK = 1000.0'
- ini.planner_type = 1



Yet running this code in G61.1 mode

Code:

G21 F5000 G0 x0 y0 g1 x20 y20 x0 y0 m2 I get this:  [attachment=74126]Screenshot from 2026-01-27 10-31-48.png[/attachment] here is my ini file: [spoiler] # This file was updated with the Mesa Configuration Tool on Nov 25 2025 13:43:50 # Changes to most things are ok and will be read by the Configuration Tool [MESA] VERSION = 2.1.8 BOARD = 7i95 BOARD_NAME = 7i95t [EMC] VERSION = 1.1 MACHINE = test_setup DEBUG = 0x00000000 [HM2] DRIVER = hm2_eth ADDRESS = 192.168.1.121 [DISPLAY] DISPLAY = axis PROGRAM_PREFIX = ./nc_files POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 1.2 MIN_LINEAR_VELOCITY = 0.0 DEFAULT_LINEAR_VELOCITY = 150.0 MAX_LINEAR_VELOCITY = 300.0 CYCLE_TIME = 0.1 INTRO_GRAPHIC = emc2.gif INTRO_TIME = 0 OPEN_FILE = ./square.ngc EDITOR = gedit DEFAULT_ANGULAR_VELOCITY = 18000 MAX_ANGULAR_VELOCITY = 36000 MIN_ANGULAR_VELOCITY = 1 [KINS] KINEMATICS = trivkins JOINTS = 2 [EMCIO] CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl [RS274NGC] PARAMETER_FILE = parameters.var [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 SERVO_PERIOD = 1000000 [TASK] TASK = milltask CYCLE_TIME = 0.010 [TRAJ] COORDINATES = XY LINEAR_UNITS = mm ANGULAR_UNITS = degree MAX_LINEAR_VELOCITY = 200.0 PLANNER_TYPE = 1 MAX_LINEAR_JERK = 1000.0 DEFAULT_LINEAR_JERK = 500.0 [HAL] HALFILE = main.hal [AXIS_X] MIN_LIMIT = 0 MAX_LIMIT = 300 MAX_VELOCITY = 300 MAX_ACCELERATION = 800 [JOINT_0] CARD = 0 MIN_LIMIT = 0 MAX_LIMIT = 300 MAX_VELOCITY = 300 MAX_ACCELERATION = 800 MAX_JERK = 1000.0 TYPE = LINEAR SCALE = 252.65 STEPGEN_MAX_VEL = 360.00 STEPGEN_MAX_ACC = 960.00 DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 4000 STEPSPACE = 4000 ENCODER_SCALE = 200 FERROR = 1.5 MIN_FERROR = 0.25 DEADBAND = 0.01 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0127 HOME_OFFSET = -0.75 HOME = 0 HOME_SEARCH_VEL = -5 HOME_LATCH_VEL = -5 HOME_FINAL_VEL = 2.5 HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 [AXIS_Y] MIN_LIMIT = 0 MAX_LIMIT = 300 MAX_VELOCITY = 300 MAX_ACCELERATION = 800 [JOINT_1] CARD = 0 MIN_LIMIT = 0 MAX_LIMIT = 300 MAX_VELOCITY = 300 MAX_ACCELERATION = 800 MAX_JERK = 1000.0 TYPE = LINEAR SCALE = 252.65 STEPGEN_MAX_VEL = 360.00 STEPGEN_MAX_ACC = 960.00 DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 4000 STEPSPACE = 4000 ENCODER_SCALE = 200 FERROR = 1.5 MIN_FERROR = 0.25 DEADBAND = 0.01 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0127 HOME_OFFSET = 0.25 HOME = 0 HOME_SEARCH_VEL = -5 HOME_LATCH_VEL = -5 HOME_FINAL_VEL = 2.5 HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 [/spoiler] What am I missing?

 

PCW wrote:

Aciera wrote:

A word of caution to anyone testing the new planner on real hardware:

I would strongly recommend to NOT activate the new planner in the ini file.
I dropped my homing velocities to 20% and my real hardware setup still runs into the hard stops on homing.

Users should leave ini.planner_type = 0, home the machine and use halshow to set ini.planner_type = 1.
 

I would echo this warning for the latest master changes

1. Jerk does not seem to be limited nor acceleration:

 

2. Commanded position may take off on random tangents"