> > That said - that's a dual loop with two different encoders. > That's not really the same dual loop when you have LinuxCNC and a Closed > Loop Stepper/Servo Driver.
If you only have one feedback source, how can you have a dual feedback loop? With the feedback closed on the driver, your joint will be treated as if its open loop by linuxcnc. Yes, Linuxcnc will use a pid but its generally not aware of the drive's encoder. Its just dealing with step and direction pulses. Rod Webster *1300 896 832* +61 435 765 611 Vehicle Modifications Network www.vehiclemods.net.au On Thu, 21 Apr 2022 at 06:26, Torsten Curdt via Emc-developers < emc-developers@lists.sourceforge.net> wrote: > > > Could you do e.g. rigid tapping when there is a LinuxCNC and another > PID > > > loop on the motor driver? > > > > Granite devices has a good description of dual feedback loops (and a > > mention for linuxcnc). The inner velocity feedback loop is normally > closed > > on the drive and the outer position loop by Linuxcnc > > https://granitedevices.com/wiki/Dual-loop_feedback_position_control > > > Wow! That's great. Very interesting. Thanks for the link. > > That said - that's a dual loop with two different encoders. > That's not really the same dual loop when you have LinuxCNC and a Closed > Loop Stepper/Servo Driver. > > _______________________________________________ > Emc-developers mailing list > Emc-developers@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-developers > _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
