Tom Easterday wrote: > On May 15, 2010, at 9:24 AM, Andy Pugh wrote: > >> There are people running closed-loop stepper systems. >> > > Really? I keep getting told you can't do it for various reasons. > > > I would love to see someone's configuration files who has made a closed loop > with steppers work. > The Pico Systems Universal Stepper Controller is a sort of closed loop system all the time. The default method is to count the step pulses sent out. By flipping a switch for each axis, you can set it to read the encoder pulses, instead.
So, in fact, EMC doesn't actually even KNOW whether it is physical closed-loop or electronic closed-loop! The only changes in the .ini file would be to change the INPUT_SCALE parameter to reflect the encoder resolution vs. the step resolution per user unit. See the configs file directory included in your EMC2 distro under univstep. Now, the reason you've been told you "can't do that" is because it doesn't PREVENT stalls. It WILL detect a stalled motor and cause a following error stop. It will also silently fix a single lost step here and there caused by setup time violations during direction reversals. Some machines suffer from this kind of problem. Jon ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
