On Mon, 2 Feb 2009, Stephen Wille Padnos wrote:
>
>> Although EMC receives feedback in realtime it does not adjust commands to
>> the axes if the axes are getting closer to exceeding the following error
>> limits. I do not know this to be true. This is a statement from the
>> supplier of motion control hardware for EMC and Mach3.
>>
>>
> This is false. PID by definition changes the command output as the
> error changes (unless you explicitly set all the coefficients to 0).
> The PID in EMC2 is actually PIDFF - there are "feedforward" terms, which
> can pass changes in control input directly through. This improves
> response significantly, since no error is required to get an output.
> PID coefficients are applied to the position error, so normally there
> can be no output until some time after a command to change position has
> arrived. FF coefficients are applied to the command input, so they
> generate some output immediately.
>
Hi SWP!
I was going to answer the same but I think what is being asked is a little
different. I think what was being asked is whether EMC could lower the
feedrate based on The magnitude of the following error being > some_limit
Peter Wallace
Mesa Electronics
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