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Having trouble with spurious pulses


maxvoxel8
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I am using a motor output in step/direction mode and seeing pulses emitted even if DesVel is zero. All integrators are disabled, and I confirmed Servo.Integrator is zero the whole time.

I am trying to get rid of the pulses with OutDbOn/Off/Seed and it's not behaving as I expect. I set OutDbOn to 0.5, OutDbOff to 4, and OutDbSeed to 1. But in the rightmost interval in FE.png, you see a pulse emitted long after DesVel became 0, and PosError never left the range of 0.5 and 4.

Looking at Motor.Servo.Status it goes to 0 when DesVel goes to 0, even though PosError is 1.06 at this time, and then goes to 1 after the spurious pulse.

Also looking at Motor.Servo.Status I'm seeing confusing things.

For one thing, it sometimes takes on a value of 2 which is not documented.

Secondly, it sometimes fluctuates rapidly between 0 and 2.

FE.png

Status.png

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