Peter, Thanks. That is basically what I thought. It has been reported to me that, in a servo / encoder system, if EMC is shut down, then one or more axes are moved and finally EMC is restarted, upon clearing the e-stop a runaway condition occurs (at least sometimes). I have to get more information, but I thought perhaps the Mesa board was holding onto the position information while EMC was not running, and then once the e-stop is cleared, tries to move to the initial position (i.e. 0,0,0).
Regards, Eric Loading the firmware will clear the encoder counts (the register values will be loaded from the bitfile = 0), If you dont reload the firmware, the hardware count will be correct, but since its only a 16 bit counter and could have wrapped without the driver noticing, actual count read by the driver could be wrong. The driver may also clear the counter as part of its startup, no sure about that. If you wanted to maintain position info across EMS starts, a 24- 32 bit counter would probably be needed. The 16 bit counter was used so that that the timestamp and encoder count are read simultaneously in one 32 b it read operation. ------------------------------------------------------------------------------ Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day trial. Simplify your report design, integration and deployment - and focus on what you do best, core application coding. Discover what's new with Crystal Reports now. http://p.sf.net/sfu/bobj-july _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
