Kirk Wallace wrote: > > Feedback would start with ppmc.X.encoder.X.delta? Is encoder delta reset > to zero and at what event? This would then be scaled/converted to RPM > and fed to pid.X.feedback and possibly a speed display. > Encoder.xx.delta is never reset. It is derived by subtracting the last position from the current position. When the spindle index feature is used, the spindle encoder index pulse clears the enocer counter, and the driver mades the axis position zero. So, there would be a large jump in position at this instant, causing delta to be a large number on one servo cycle. You know when this happens, as the HAL signal ppmc.0.encoder.xx.index-enable will be true before the event, and will go to zero on the same servo cycle as you read the "wild" delta number. > It looks like there is still some magic that needs to conjured before > this will work. >
This should be quite simple to work out. I'm not even sure delta goes wild at these times, I've looked at the signals with halscope, but it has been a while. Reading the driver code, it seems it should go wild when the spindle index function is used, unless something else fixes it. Jon ------------------------------------------------------------------------- Check out the new SourceForge.net Marketplace. It's the best place to buy or sell services for just about anything Open Source. http://sourceforge.net/services/buy/index.php _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
