Brian wrote: > Dave, > > I simply want axis to be able to utilize my scale feedback as actual > joint position. Thats all. > And that's what I SIMPLY don't understand. I have two servo-controlled machines. One is a converted manual Bridgeport mill, the other a converted 150Lb minimill. The Bridgeport has no handwheels, but you can turn the pulleys by hand. The minimill still has the X and Y handwheels, but I took the crank handles off for safety reasons. On both machines, when I hit E-stop, I can turn the screws/handles and the DRO display on Axis (or TkEMC, Mini, Touchy, or whatever GUI you choose) updates with the current position. When you hit F1-F2 it goes back to CNC mode, and picks up at the position the machine is now at. The location of the encoder is not important, it is just a position measuring encoder with so many counts per linear inch (or mm, your choice).
So, as far as I can see, it DOES work, and has worked just like this since 1988! Now, in all these cases, I am using external hardware to read encoder position. HAL does offer an encoder counter component, but it uses up a lot of parallel port pins. But, this should also work, as long as encoder counts are not coming in too fast to be counted. Your use of the stepgen component requires some changes to the typical configs files that would be used with stepgen, and you can pretty much forget using stepconf to compose your configs files. Now, the backlash is an added complication. I am maybe getting the idea that your problem is the classic servo setup won't work due to excessive backlash, and you want to have backlash compensation when in servo mode, and screw error compensation when in manual/DRO mode. Now, there I see a contradiction. Without a lot of fudging and kluging, I don't think this will work, and fixing the backlash would be the best solution. 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
