On Thursday 16 March 2017 12:08:38 Nicklas Karlsson wrote: > > > > On 03/15/2017 11:49 AM, Gene Heskett wrote: > > > > > There are no pid's used in this configuration Jon. Nor is > > > > > there a base-thread. Till now I haven't missed them. > > > > > > > > How do you get a following error without PID? > > > > > > The difference between actual or measured position and position > > > reference value is large enough. > > > > And this difference, Nicklas, is reduced by lower accel limits, and > > a faster servo-thread I assume? Those I can fix. :) > > Yes if you have some kind of feedback loop. > If there is, I'd say its hidden in "motion". I don't recall a coupling internal to the hal code. But I'll double-check as I've been concentrating on the other wheel related stuffs.
That might also be approachable from the addf order viewpoint if all the interactions can be deciphered. Like do all the addf's of x stuff, then all the z stuff so there is less of a time delay difference introduced by my current addf xname, addf zname style. That makes name checking easier, but does slow the individual axis math by interspersing the control operations. Its not impossible that I have an addf or 4 out of order, and the data is ageing by at least one servo-thread cycle by the time the next servo-thread is executed. Thats not on purpose, but stuff does happen... ;-/ If Z now works like X does, I'll do another printout and do some order tracing. In landscape, its now 18 pages. I have bigger hal files, but bigger iron to run them on too. :) Actually, the best order checker would be a rockhopper printout. (but thats at least 8 to 10 pages to cut out and tape up, shudder!) Just thinking about it, and looking at the temp makes me want a mini-nap first. (till the next time the phone rings) Thanks Nicklas. Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) Genes Web page <http://geneslinuxbox.net:6309/gene> ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
