Joint 5 follow error for XYZAC machine

[Ryan Perez]

Hello,

I am designing a 5-axis machine with a XYZAC orientation. I can currently control/send commands to XYZA steppers but am having trouble with the C axis of rotation. I get a joint 5 following error every time I try to control the C rotation. the specific error in the command line is:

 

emc/task/taskintf.cc 617: Error on axis 5, command number 141

The C axis setup is identical to the A axis so I am struggling to find out where the error is being triggered. I am using trivkins. Any help would be great!

Here are the ini sections connected to the C axis

[TRAJ]

COORDINATES = X Y Z A C

AXES = 6

JOINTS = 5

MAX_ANGULAR_VELOCITY = 45.00

DEFAULT_ANGULAR_VELOCITY = 4.50

LINEAR_UNITS = mm

ANGULAR_UNITS = degree

CYCLE_TIME = 0.010

DEFAULT_VELOCITY = 5.0

MAX_LINEAR VELOCITY = 10.0

NO_FORCE_HOMING = 0

[AXIS_5]

TYPE = ANGULAR

MAX_VELOCITY = 31.89

MAX_ACCELERATION = 3000.0

STEPGEN_MAX_VEL = 37.0

STEPGEN_MAXACCEL = 3750.0

BACKLASH = 0.0

SCALE = -744.53

MIN_LIMIT = -9999.0

MAX_LIMIT = 99999999.0

FERROR = 1.0

MIN_FERROR = 0.25

HOME = 0.0

HOME_OFFSET = 0.0

and the hal section

#C-axis

setp hpg.stepgen.04.position-scale [AXIS_5]SCALE

setp hpg.stepgen.04.steplen 2000

setp hpg.stepgen.04.stepspace 2000

setp hpg.stepgen.04.dirhold 35000

setp hpg.stepgen.04.dirsetup 3500

setp hpg.stepgen.04.maxaccel [AXIS_5]STEPGEN_MAXACCEL

net cpos-cmd axis.4.motor-pos-cmd => hpg.stepgen.04.position-cmd

net cpos-fb hpg.stepgen.04.position-fb => axis.4.motor-pos-fb

net cenable axis.4.amp-enable-out => hpg.stepgen.04.enable

setp hpg.stepgen.04.steppin     929

setp hpg.stepgen.04.dirpin      931

[Aurelien]

Hi

I suspect your STEPGEN_MAXACCEL/MAX_ACCELERATION is set too high.

also you can try to increase

FERROR = 2

Did you forgot to set ? :

setp hpg.stepgen.04.maxvel [AXIS_4]STEPGEN_MAX_VEL

[Ryan Perez]

I've tried lowering the accel and raising the error but that has not helped I have also raised the period to the max and that also yields no results