[Emc-developers] handle the deviation feedback from encoder of servo motor

[Jullian]

Hi, all,

As i see, now, in LinuxCNC, there's no code  handling with the deviation
feedback from the encoder of servo motors of robot arms.

I use the "deviation feedback" meaning like the bias between the pulses
number sent to motor and the pulses it actually have done, in other words,
the difference of the actual value from the motor's encoder.

Is the handling about this important or can be ignored ?

Are there any other guys paying attention to this?

And how do you handle with this ? or where  adding the related codes?

Thanks.
Julian.
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Re: [Emc-developers] handle the deviation feedback from encoder of servo motor

[Jullian]

yes, i agree this isn't belonging in motion.

I just want to know how to make a closed loop or doing with the feedback of
the servo motor's encoder?



On Wed, Nov 25, 2015 at 7:44 PM, andy pugh  wrote:

> On 25 November 2015 at 09:54, Jullian  wrote:
>
> > As i see, now, in LinuxCNC, there's no code  handling with the deviation
> > feedback from the encoder of servo motors of robot arms.
>
> I don't think that this belongs in motion.
>
> motion sends the idealised positions. The PID controller or stepgen
> component has the job of controlling the hardware to that position.
>
> --
> atp
> If you can't fix it, you don't own it.
> http://www.ifixit.com/Manifesto
>
>
> --
> Go from Idea to Many App Stores Faster with Intel(R) XDK
> Give your users amazing mobile app experiences with Intel(R) XDK.
> Use one codebase in this all-in-one HTML5 development environment.
> Design, debug & build mobile apps & 2D/3D high-impact games for multiple
> OSs.
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Re: [Emc-developers] handle the deviation feedback from encoder of servo motor

[Viesturs Lācis]

2015-11-25 11:54 GMT+02:00 Jullian :
> As i see, now, in LinuxCNC, there's no code  handling with the deviation
> feedback from the encoder of servo motors of robot arms.
>
> I use the "deviation feedback" meaning like the bias between the pulses
> number sent to motor and the pulses it actually have done, in other words,
> the difference of the actual value from the motor's encoder.

That is what PID component is meant for:
http://linuxcnc.org/docs/html/man/man9/pid.9.html

Viesturs

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Re: [Emc-developers] handle the deviation feedback from encoder of servo motor

[andy pugh]

On 25 November 2015 at 12:34, Jullian  wrote:

> I just want to know how to make a closed loop or doing with the feedback of
> the servo motor's encoder?

Use a PID component.

A fuller explanation might be possible with a fuller explanation of
the problem.

-- 
atp
If you can't fix it, you don't own it.
http://www.ifixit.com/Manifesto

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