Make sure you have velocity and accelleration headroom in stepgen also.
This is from the stepper_inch.ini
MAX_VELOCITY = 1.2
# NOTE: the step generator module applies its own limits to
# acceleration and velocity. We have discovered that it needs
# to have a little "headroom" over the accel by the trajectory
# planner, otherwise it can fall slightly behind during accel
# and later overshoot as it catches up. In the long term we
# hope to come up with a clean fix for this problem. In the
# meantime, please set STEPGEN_MAXACCEL below to a few percent
# higher than the regular acceleration limit MAX_ACCELERATION
MAX_ACCELERATION = 20.0
STEPGEN_MAXVEL = 1.4
STEPGEN_MAXACCEL = 21.0 |