John Kasunich wrote: > Halmeter only updates a few times per second. Can you set up halscope? > There are pins (or maybe parameters) called axis.n.ferrror, which is > the amount of following error, and axis.n.ferrored, which is a bit that > goes true when EMC trips on excessive following error. Use the > "ferrored" pin to trigger the scope, and capture position command, > position feedback, and the ferror pin. > > I'm thinking he may have noise getting into the PPMC <==> computer link, and causing single-servo-cycle errors in reading the encoder count. I have certainly seen this before under some conditions. Since two machines suddenly show this problem, I'm thinking electrical noise in the plant. Right, Halscope would show it if you trigger on the ferror, where halmeter never would.
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