2012/5/30 andy pugh <bodge...@gmail.com>: > On 30 May 2012 12:10, Viesturs Lācis <viesturs.la...@gmail.com> wrote: > >> The problem is that, while one stepgen would be disabled, >> axis.0.pos-cmd would change its value and, when the stepgen would be >> enabled again, it would jump to the axis.0.pos-cmd, which is exactly >> what we do not want it to do. > > I _think_ that is OK, as both real and dummy axis positions reset to > the same value when homed (I would have to actually watch it happening > to be sure).
It resets axis.n.pos-cmd, but it does not reset motor.n.pos-cmd (or is it axis.n.motor-pos-cmd?). It does the jump, when slave is connected back to master - that is one of the reasons I failed doing it in HAL (I mentioned it one of my previous emails). > >> And how do You suggest to switch the slave joint from "dummy" axis to >> follow the true axis? > > Mux looks like the only way. (or a Gantryhome component) > Yes, additional math is required to treat the varying offsets between axis.n.pos-cmd and motor.n.pos-cmd as first one is reset, when homed, the second is not. I still do think that simple rerouting of step signals is the simplest way to go. So it could be like this: 1) home to master switch with slave joint connected to master; 2) home to slave switch with slave joint connected to "dummy"; That would require one mux2bit instance with mux2bit.sel pin connected to joint.dummy.is-homing and slave joint connected to master by default. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
