I have had an idea lingering in my head for quite some time now. How about moving the screw/backlash comp out of motion and implement it with a HAL module. The purpose would be for two goals. One it would make it more logical to implement more sophisticated joint compensation, such as thermal expansion, deflection, and belt stretch. Second, it would set the stage to be more friendly for dual scale/motor feedback, because it would give control over where the compensation is added in the feedback loop.
Is this something anybody has thought about? If it seems like something that would be useful, I'll start a branch and work it out. Brian ------------------------------------------------------------------------------ _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
