> > But this feedback loop decouples the real position from the meant-to-be > > position. (expressed in the following error) > > And I don't see how the real position could be reported back to LinuxCNC > so > > it's still in full control of the movement. > > ...unless you connect the encoder directly to the Mesa instead of the > > Closed Loop Stepper driver. > > > > You can send the encoder feedback to lcnc as well as the drive using > splitter. >
Ah, interesting. The encoders on closed loop steppers seem to usually have 4 pins. (EA+,EB+,EB-,EA-) Does that mean it requires 4 inputs per motor? Or would this somehow be normalized into STEPs and DIRs? Or what does LinuxCNC expect? The splitting would not work for the servos that have the driver integrated though. For example JMC Servos can only provide feedback via modbus for example. So I guess they wouldn't be really ideal to work with unless LinuxCNC could also poll the modbus as a feedback channel. It sounds like the ideal LinuxCNC setup would be a very dump driver (without encoder support) and a stepper/servo with just an exposed encoder. And then have LinuxCNC take care of everything. Does that sound about right? cheers, Torsten _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
