Andy Pugh wrote: > Am I right in thinking that your request is basically that > axis.N.joint-pos-fb should be read/write (or split into > joint-pos-fb-in and joint-pos-fb-out?). Then what is displayed on the > screen is the actual position from the scales? > My impression is that you are happy with the current control scheme > (open loop with screw compensation) > > Yes, I think this is the gist of his complaint. (There was at one time a GREAT diagram of the entire interplay of everything that affects motion (axis (little "a"), trajectory planner, interpolation, PID, servo interface, screw compensation, etc.) but I couldn't find it. It may apply to EMC1 and thus out of date. I thought it had been moved and updated into John K.'s HAL documents.)
He wants the displayed position to have the screw error (and backlash) correction applied. Even if EMC2 doesn't do this now, making the displayed position show the corrected value sounds like a couple hours of work and a new HAL component. The most difficult part is to arrange the code to feed the correction table values from the Linux side to the component's parameter input. Jon ------------------------------------------------------------------------------ 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
