This is how I did it. ## Before with position mode stepgen #net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd #net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb
## Velocity mode stepgen net apos-cmd axis.3.motor-pos-cmd => ddt.0.in net apos-cmd axis.3.motor-pos-fb net avel-cmd ddt.0.out => mult2.0.in1 net fillrate input.0.abs-rx-position => mult2.0.in0 net scaled-avel mult2.0.out => stepgen.3.velocity-cmd "input.0.abs-rx-position" is scaled to the interval 0.5 -- 1.5 Andy, if I understand you correctly there is already an " axis.3.joint-vel-cmd " so there is no need for the ddt step. I will try that. // Lars > -----Original Message----- > From: andy pugh [mailto:bodge...@gmail.com] > Sent: den 19 januari 2012 22:04 > To: Enhanced Machine Controller (EMC) > Subject: Re: [Emc-users] Changing the scale factor of an axis > > On 19 January 2012 20:43, Lars Andersson <l...@larsandersson.com> > wrote: > > > I think I will try to change the A-axis to velocity mode and put a > HAL > > component in series that takes the derivative of commanded position > > That might not be necessary, you can probably use the existing axis > velocity pin. > (axis.3.join-vel-cmd) connected to a velocity-mode stepgen. > You need to > net fb-shortcircuit axis.3.motor-pos-cmd axis.3.motor-pos-fb > To stop it complaining about following errors, I suspect. > > -- > atp > The idea that there is no such thing as objective truth is, quite > simply, wrong. > > ----------------------------------------------------------------------- > ------- > Keep Your Developer Skills Current with LearnDevNow! > The most comprehensive online learning library for Microsoft developers > is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, > MVC3, > Metro Style Apps, more. Free future releases when you subscribe now! > http://p.sf.net/sfu/learndevnow-d2d > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ Keep Your Developer Skills Current with LearnDevNow! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-d2d _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
