The firmware build I am using is 435.10.
I am using Windows OS.
I use TgFX to control the robot.
Regarding the file that is outputed, you are correct. It is the streaming status reports that the controller spits out.
I am giving a snippet of what I see below:
{“sr”:{“mpoz”:-30.208}}
{“sr”:{“mpoz”:-30.125}}
{“sr”:{“mpoz”:-30.042}}
{“sr”:{“vel”:0.00,”mpoz”:-30.000,”stat”:3}}
{“sr”:{“vel”:25.03,”mpox”:5.065,”stat”:5}}
{“sr”:{“vel”:50.00,“mpox”:5.143}}
{“sr”:{“mpox”:5.222}}
{“sr”:{“mpox”:5.305}}
{“sr”:{“mpox”:5.389}}
{“sr”:{“mpox”:5.468}}
{“sr”:{“mpox”:5.551}}
As you can see, this is the first instance where there is an X-direction translation. And instead of beginning from 0, it begins printing from 5mm.
At the moment I am using a hack where I postprocess the data based on the above observation and it has dramatically improved my accuracy. But I would like to get a more permanent and portable fix.
I am not sure which files will be useful for you to debug the issue. If you can let me know, I can add those to dropbox and provide you the link.
Thanks!!
