On Wed, 20 Apr 2022 at 17:53, Torsten Curdt <tcu...@vafer.org> wrote:
> Does the HAL get the absolute Positions? And that gets translated into > velocities? It actually gets target feedback values, after homing. ie positions scaled according to the encoder counts or step counts that applied when it was homed. It needs to be this, or the PID wouldn't work. Then it's the HAL stepper drivers that calculate the required step frequency to achieve the position. > But to me the whole idea breaks down when using a Closed Loop Stepper or a > Servo. > At least unless you feed the encoders into LinuxCNC it seems to heavily > weaken the idea. It still means that you can send axis positions calculated from spindle encoder position, for tapping and threading, for example. Or, for that matter, other fun things like drilling hexagonal holes: https://youtu.be/PtD9w6lp8n8 -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1912 _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
