Servo tuning, can someone look at my config numbers?

[M232]

Thought I had the servos tuned, but at low speeds they error out, I'm thinking my encoder input values are messed up.

1250 line count encoder or 937.5 line count per motor revolution (encoder turns 3/4 rev per 1 motor rev)

Numbers I have plugged in.

Port & Pins>Encoder/MPG>Counts/Unit = 1250 (Mach config)

Config>Config Plugins>Ajax Plugin>Counts Per Rev = 15000*

*(1250 line count X 3) X 4 (quadrature)

In the Motor Tuning and Setup screen, I have 20000 steps per unit (5 turns of ballscrew per inch)

Also, what is iL, I see a few different numbers in the manual compared to what the default number is. Where does this value come from?



thanks,

Mike

[Centroid_Liviu]

Our Mach3 technical expert is currently out of the office but perhaps the below will be of some help:

For Config>Config Plugins>Ajax Plugin>Counts Per Rev it is asking for the counts per revolution of the encoder. For a 1250 line encoder it should be 5000 (1250 line * 4 quadrature).

The iL is the same as the limit. The Limit is set to 32000 for 8000 count encoders. If you are using higher/lower resolution encoders the general rule for calculating the Limit is (Encoder counts x 4). ex. 10000 line count encoder would have 40000 counts, multiply 40000 x 4 to get a Limit of 160000.