Wake and Shake Behavior

EverCNC Titanio - Wake and Shake

When the drive powers on, when you enable for the first time, the drive will perform a "feedback sensor calibration" (FSC) that is colloquially referred to as "wake and shake."

Theory

(Andy, put stuff here)

Observed Behavior

We've observed problems trying to use this model out of the box with RMP. If the wake-and-shake takes too long, RMP faults.

If it finishes fast enough, RMP is fine.

(Ref: data for plots)

Custom Behavior

The documentation for this drive describes the state transitions for enabling.  It's (probably) not unusual, except for the length of time it takes to succeed.

We will need to implement our own "enable sequence" to integrate this model with RapidPath.