> The motion controller copies feedback to command while in the machine > off state. The stepgen also updates its internal command position while > it is disabled (which it should be in machine off). The motion > controller shouldn't do anything when it's enabled (it might, and that > would be a valid bug), and it should only apply screw correction when it > starts moving, since it doesn't know any direction until then. > > Of course, this will be a problem if the magnitude of screw compensation > is larger than your following error setting. > > - Steve
This is why feeding the scale position into axis.N.joint-pos-fb would be so elegant. Because everything else would work correctly. The only thing that would make it better is if the screw comp 'sensed' direction change rather than taking a que from the motion controller. Then if you move the machine manually, and re-enable the motors, the screw comp will know what side of the screw it is on to start with. Even without doing that, I suspect that the secondary feedback loop would be sufficient to cover up that problem, and get things going again. 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
