On 03/12/2018 12:08 PM, andy pugh wrote:
On 12 March 2018 at 15:57, Mark <wendt.m...@gmail.com> wrote:
Am I to do something like this:
addf offset.0.update-output
net axis.1.joint-pos-cmd offset.0.in
net lincurve.0.out offset.0.offset
net offset.0.update-output offset.0.out
net offset.0.out axis.1.joint-pos-cmd
Is that the right idea?
Close, but you seem a bit confused about HAL syntax.
Well, it's easy enough to admit that I am. ;-) Haven't done this since
I first did the machine, which was over 10 years ago, and most of that
was relatively straightforward.
(You need a loadrt offset before the next line will work)
addf offset.0.update-output
net axis.1.joint-pos-cmd offset.0.in
net lincurve.0.out offset.0.offset
You need a signal name for each of these lines. eg
net z-raw axis.1.joint-pos-cmd offset.0.in
net z-corr lincurve.0.out offset.0.offset
The next line would be valid, but is using a function name as a signal
name, and that is probably not what you intended.
net offset.0.update-output offset.0.out
net offset.0.out axis.1.joint-pos-cmd
I wasn't quite sure how to do that part.
You probably want
net z-cmd offset.0.out stepgen.1.pos-cmd
net z-pos-fb-raw stepgen.1.pos-fb offset.0.fb-in
net z-pos-fb-offs offset.0.fb-out axis.1.motor-pos-fb
Ah, okay, this is starting to make sense to me now. I'll keep plugging
away at this. I really appreciate the help Andy, so thank you.
Mark
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