On Wed, Aug 15, 2007 at 11:40:35AM -0500, RogerN wrote:
> Instead of PID speeding up the stepper, could it be connected to feed
> rate override and slow the feed until the stepper caught up?
emc2 offers "feedhold" and "adaptive-feed" pins in HAL (the latter is
activated by M52, not on by default). It's possible that a new
component (or ladder logic or a combination of existing components in
HAL) could use position error to manipulate feedhold or adaptive-feed
and allow a recovery shortly after a stepper stall.
_________________
Commanded Position ---| New Component |--- Stepper velocity command
| (magic goes |
Feedback Position ---| here) |--- adaptive feed rate
~~~~~~~~~~~~~~~~~
___________
adaptive feed rate 1 ---| Another |
adaptive feed rate 2 ---| piece |
... | of the |--- overall adaptive feed rate
adaptive feed rate n ---| puzzle |
~~~~~~~~~~~
There are a lot of details to work out, it's more a matter for research
and experimentation than "yes, simply add a few lines to your HAL file".
Jeff
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