On Wed, 23 May 2012, Jon Elson wrote:

> Date: Wed, 23 May 2012 12:13:34 -0500
> From: Jon Elson <el...@pico-systems.com>
> Reply-To: "Enhanced Machine Controller (EMC)"
>     <emc-users@lists.sourceforge.net>
> To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
> Subject: Re: [Emc-users] Encoder Redundancy?
> 
> andy pugh wrote:
>> On 23 May 2012 07:08, Jeshua Lacock <jes...@3dtopo.com> wrote:
>>
>>
>>> I am guessing there is not an easy way to detect this condition,
>>>
>>
>> It should be possible to check if your PID is saturated for more than
>> a second or so.
>>
> But, this still doesn't detect a servo runaway when the Gecko drive is
> started up.
> LinuxCNC is not sending any command to the drive at this point.  So, before
> F2 is pressed, PID output is clamped at zero.
>> Note that I am not sure what amp-fault-in actually does, but it was
>> conveniently available and sounds about right.
>>
> It is a signal provided by some servo amplifiers to indicate they are in
> fault status.
>
> Jon

Which is a good illustration of the limitations of step/dir servos since 
LinuxCNC can't "see" whats happening in the drive, which rules out a lot of 
hardware fault mitigation strategies.


Peter Wallace
Mesa Electronics


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