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Home twice as fast, and tighten the stall threshold to 1000

This commit is contained in:
pgdalmeida 2026-09-22 17:16:31 +02:00
parent 7ef2abcd4a
commit 943f978a73
Signed by: pedro.almeida
GPG Key ID: D4A6C394DF13F1D7
2 changed files with 14 additions and 9 deletions
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11
config/hardware.example.ini
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@ -132,7 +132,7 @@ scan_speed_deg_s = 8.0
; they cannot use the counts_per_deg that homing derives - they convert through
; the scale this file implies (steps_per_rev / travel_deg), which on the IOTA
; agrees with the measured one to 0.25%.
homing_speed_deg_s = 2.0
homing_speed_deg_s = 4.0
center_speed_deg_s = 6.0
; --- Told to the firmware, which holds none of it itself --------------------
@ -146,9 +146,12 @@ center_speed_deg_s = 6.0
; stalls on ordinary friction, trips the same latch a real stop does, and the
; bogus limit is accepted.
steps_per_rev = 1210778
; |XACTUAL - XENC| that means "position untrustworthy". Re-measure whenever the
; homing current changes: the free-running gap is coupled to it.
enc_deviation = 1500
; |XACTUAL - XENC| that means "position untrustworthy". 1000 here: the
; free-running gap measured 199-229 counts on tower 121, so this is ~4x headroom.
; Re-measure whenever the homing CURRENT changes - the gap is coupled to it, and
; notably NOT to speed (229 counts at VMAX 6000, 199 at 30000). Lowering is the
; safe direction; raising it blunts the only stall signal the rig has.
enc_deviation = 1000
; TMC SW_MODE - physical endstop switches on REFL/REFR. Yaw on this rig homes by
; StallGuard with no switches (0); an axis with real switches sets the bits.
sw_mode = 0

12
hardware/lattepanda-iota/install.sh
View File

@ -436,12 +436,14 @@ EOF
; things on different gear ratios, so it is not portable between towers. The
; host converts through counts_per_deg and sends SPEED.
scan_speed_deg_s = 8.0
homing_speed_deg_s = 2.0
homing_speed_deg_s = 4.0
center_speed_deg_s = 6.0
; |XACTUAL - XENC| that means "position untrustworthy". 1500 is this mechanism's
; starting point; re-measure it whenever the homing current changes, because the
; free-running gap is coupled to it.
enc_deviation = 1500
; |XACTUAL - XENC| that means "position untrustworthy". 1000 on this mechanism:
; the free-running gap measured 199-229 counts on tower 121, so this is ~4x
; headroom. Re-measure whenever the homing CURRENT changes - the gap is coupled
; to it, and notably NOT to speed (229 counts at VMAX 6000, 199 at 30000).
; Lowering is the safe direction; raising it blunts the only stall signal there is.
enc_deviation = 1000
; Is this axis's encoder aligned to XACTUAL and usable for hold and DIAG?
has_encoder = true
EOF