Re: [Emc-users] New setup 7C80 + DM556: Error on joint 0, command number 110

[Robert S. <rm...@un...>]

Am Mittwoch, dem 06.05.2026 um 15:05 +0200 schrieb Marco:
> The actual problem (on all axes) is that I can jog once, twice maybe
> three times and then get:
> 
>   joint 0 following error
>   emc/task/taskintf.cc 976: Error on joint 0, command number 108
> 
> The command number changes every time and of course the joint number
> if I try jogging the other axes. Any ideas?
> 

The PID doesn't do much, I and D gains are 0. It is mostly there to
compensate for jitter. The "feedback" is just the step-count from the
mesa-card internal step pulse generator, no real hardware feedback is
involved. So this will also happen exactly like this if the actual
motors are turned off.


Where does "P=300" come from? AFAIK in your case it should be 1000 for
a servo period of 1000 but I would be surprised if that would be the
cause of your problem, most of the heavy lifting should come from the
"FF1=1.0" term.

I have a similar config (with about 5× max speeds) that works, the
other difference apart from P is that i have MAX_OUTPUT=0 and I didn't
define any backlash.

-- 
Robert Schöftner <rm...@un...>