I have a robot RM501 of Mitsubishi to program it with linux cnc. There is already connection with linuxcnc but when i send G code commands it doesnt go exactly where i want. It has servo motors but they work through linuxcnc as stepper motors. I send steps and direction in the board of mitsubishi for motors. There is a trick with hal by using a bitslice. When i use servo as steppers how could i choose the step time,step space,direction hold and setup in order to see if i have stalls. I mention that the robot does correct the homing.
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