Andy Pugh wrote: > Perhaps I should have elaborated further. What I was saying is that if > the hardware encoder and driver does not offer an interpolated > position every servo cycle and the encoder pulse rate is low enough to > have multiple servo threads per encoder count, then EMC will see a > stationary spindle with the hardware encoder. This might cause the > problems we are seeing. > > In that situation the software encoder, which does offer > position-interpolated, is paradoxically superior. > Yup, now I see your point. Well, I have added the firmware to my PWM controller for the timestamp registers, but haven't written the code in the driver to do the calculations. One thing that makes it more complicated is when the count is reset on the index pulse (which you do for a spindle at the start of a threading cycle) the velocity calculation needs to adjust for that.
Jon ------------------------------------------------------------------------------ Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
