I have a setup problem that I think should be a fairly common issue that I would like to bring up to the development team.
I have a milling machine that uses open loop steppers to operate the screws, and scales to monitor table position. I want to use the scales to monitor the table position when the drives are disabled, and I am manually moving the machine. This will mitigate the need for an MPG. My problem is, I don't see a good way to integrate the direct reading scales into the HAL component 'axis'. I can't use motor-pos-fb, because the backlash is added to it to determine actual joint position. What I think needs to happen is joint-pos-fb needs to become an input. Then I can have the option of tying my scales to that. Machines without scales would use (motor-pos-fb+lashcomp) -> joint-pos-fb. I suppose a separate following error pin could be calculated too, one for the servo loop, and another for the secondary feedback (scale). I think this fits nicely with the existing line of logic, and accurately describes the mechanics of a joint. Thoughts? Brian ------------------------------------------------------------------------------ This SF.net email is sponsored by Make an app they can't live without Enter the BlackBerry Developer Challenge http://p.sf.net/sfu/RIM-dev2dev _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
