Igor Chudov wrote: > On Wed, Mar 2, 2011 at 8:38 PM, Jon Elson <el...@pico-systems.com> wrote: > > > Jon, this is a ACME type screw that moves the knee, not a ballscrew. It is > 100% self locking. > > > Right, I was not meaning in the sense of it moving when the servo is shut off, but that the position might not even be CLOSE to the commanded position when the servo is shut off. Ie, what Andy was suggesting was to have a timeout for a move, after some delay with no change in commanded position, the DAC output would be forced to zero, no matter how close (or far) the axis was. You would KNOW where it was, via the encoder, but the actual position would be wherever the servo loop left it after that delay.
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