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
>
>
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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
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