[tome9999]

Is it possible to disable error correction on our VSD-E drives? We tried setting the error velocity to 0 hoping that might do it, but it appears 1 is the min. We can't see a place to turn it off. If not, would it be possible to get FW that disables it?

We are running the drives with EMC and we get a condition where the granite is trying to correct for small position errors and EMC is trying to fight back. We don't need the Granite to do error correction for us since we have a brainier controller than probably is typical...

Tom

[Xerxes]

Its best to set drive in velocity mode in such case. It does not do the error recovery move and it works best anyways if EMC closes the servo loop.

[tome9999]

Its best to set drive in velocity mode in such case. It does not do the error recovery move and it works best anyways if EMC closes the servo loop.

We are running EMC with a Mesa 7i43 fpga card to do step/dir. We are running EMC (and the mesa) in velocity mode stepgen with pid loop. We are very close to having it work the way we want, but may try putting the Granite in velocity mode and see what we get in terms of alleviating the bit of fighting we see at startup.

One question though... The manual implies that the homing controller uses position mode. We are using the homing controller to home to hard stop, will this functionality go away if we use velocity mode?

Thanks,
Tom

[Xerxes]

Yes, internal homing controller works in position mode only. So you may need to do homing from EMC instead.