On Mon, 13 Jan 2014, Viesturs L?cis wrote:
Date: Mon, 13 Jan 2014 23:00:08 +0200
From: "[UTF-8] Viesturs L?cis" <[email protected]>
Reply-To: "Enhanced Machine Controller (EMC)"
<[email protected]>
To: "Enhanced Machine Controller (EMC)" <[email protected]>
Subject: Re: [Emc-users] Servo questions
2014/1/13 andy pugh <[email protected]>
On 13 January 2014 19:50, Viesturs L??cis <[email protected]> wrote:
> In HAL file I have:
> axis.0.motor-pos-cmd => hm2_5i23.0.pwmgen.00.value
That's wrong.
You need position-cmd -> PID -> pwmgen
> axis.0.motor-pos-fb <= hm2_5i23.0.encoder.00.position
And the feedback also needs to go to the PID.
The aim is to temporarily _not_ use pid in LinuxCNC, I want to try out, how
it behaves only with the feedback loop in servo drive.
Viesturs
You can do this but the command to the drive needs to be a
velocity command, _not_ a position command (say axis.N.joint-vel-cmd)
(note that FF1 in the PID loop does exacty this)
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