position control & feedrate

[ferdi_mcrohl]

if I configure the EMC2 for position control with hal

net motor.00.pos-fb hm2_5i20.0.encoder.00.posistion => pid.0.feedback
net motor.00.pos-fb => axis.0.motor-pos-fb
net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command
net motor.00.command pid.0.output => hm2_5i20.0.pwmgen.00.value

I wonder,, how EMC2 control motor's feedrate?
because if I configure it that way, I think the feedrate will change depend on the position of the motor

[ferdi_mcrohl]

when I test G01 X2.00 F2 and G01 X2.00 F5, EMC2 run the motor with 90s duty cycle for both condition but it run with different speed. How could it be??

[wendtmk]

Originally Posted by ferdi_mcrohl when I test G01 X2.00 F2 and G01 X2.00 F5, EMC2 run the motor with 90s duty cycle for both condition but it run with different speed. How could it be??

Because you've called out two different feed rates - F2 in the first and F5 in the second. A G1 call moves the axis at the programmed feed rate. G0 will typically move at the MAX_VELOCITY in machine units set in your ini file.