On Sun, 11 Aug 2019, Les Newell wrote:
Date: Sun, 11 Aug 2019 18:11:42 +0100
From: Les Newell <[email protected]>
Reply-To: "Enhanced Machine Controller (EMC)"
<[email protected]>
To: [email protected]
Subject: Re: [Emc-users] PID feed forward
Thanks Peter,
That is exactly what the problem was. This hal file was originally generated
by pncconf and it connected the signal without driving it. What is the
recommended way to connect this? If I connect it to motor.n.vel-cmd it trips
a following error as it hits the index when homing. If I leave it unconnected
I don't have any problems when homing.
Les
Ahh thats a bug in index handling so I guess you will need to leave
the PIDs command-deriv unconnected until that is fixed.
I really really wish that index handling did not cause a joint position jump.
this is just plain wrong and hatches a nest of ugly patch-arounds.
(though maybe needed for broken encoder hardware that clears its count on index)
sigh...
Yes, previously the PID command-deriv pin did not work so FF1 was always
calculated internally by using DP/DT, Now it does work in the somewhat
magic way it was intended to work ( calculate the velocity internally if
the command-deriv pin is unconnected but use command-deriv if its is
connected)
So if you had your PID components command-deriv pin connected to a signal
but the signal was not driven (connected to motions commanded velocity
pin for example) You would get your present symptoms if you upgraded
Peter Wallace
Mesa Electronics
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Peter Wallace
Mesa Electronics
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