On 02/10/2021 07:08 PM, Gene Heskett wrote:
But is the error also in degrees? The halsope is
measuriing volts and I have not found anyplace where it
states the error is in the same sized unit the rest of
that particular servo is using. And, if its degrres I
should have tripped a coup le dozen or more times while
playing as I'm seeing very short term peaks that are 2x
that setting.. Thank you Jon. Cheers, Gene Heskett
Halscope measures "Units". It has no idea what they mean.
Position and following error
are in "user units", ie. whatever you have defined them with
in your SCALE parameters in
the .ini file. Velocities are in user units/second, except
encoder deltas are in counts/servo period.
So, looking at PID_ERROR with Halscope, with a scale of
200u, and assuming inch units,
that means one vertical division is 200 uInch, or 0.0002 inch.
The only place Volts really show up is in velocity DAC
commands, where a properly scaled DAC driver would show the
same thing as a physical analog scope hooked to the DAC output.
Jon
_______________________________________________
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users
