> Greetings and Merry Christmas to all; > > Putting the near finishing touches on the hal file for the new treatment > of a two scale encoder last night I noticed that rigid tapping wasn't > doing as it should, like the spindle reversal wasn't near completely > done, so it looked like I was feeding motion.spindle-revs from the wrong > place, so I've fixed that. With this: > > # hook up position, after scaleing for gear change, > # to motion for rigid tapping, two tally switches on knob > # control the mux4pos.sel 1 and 2 > net pos_source <= hm2_5i25.0.encoder.00.position => scale_pos.in > net pos_source => mux4pos.in1 > net scaled_pos_s <= scale_pos.out => mux4pos.in2 > net position_scaled <= mux4pos.out => motion.spindle-revs > > So that position is scaled by the gear switches. > > But generally, we want as much of this as practical, to fall thru in a > single servo-thread cycle. Nyquist feedback theory and all that. > > From the man page: > Pin names starting with "joint" or "axis" are are read and updated by > the motion-controller function. > > But "motion" itself raises some unique (to me) questions, because it > handles both input and output. > > So where is the ideal position in the addf list for these two functions: > > addf motion-command-handler servo-thread > addf motion-controller servo-thread
Here is the manual page for the motion module http://linuxcnc.org/docs/html/man/man9/motion.9.html Manual state "motion − accepts NML motion commands, interacts with HAL in realtime" so I would guess NML motion commands are handled by the motion-command-handler thread and HAL realtime is handled by motion-controller. As position is a real time output I expect it is handled by motion-controller thread. I think motion is EMCMOT on page four in the devoper manual http://linuxcnc.org/docs/devel/pdf/LinuxCNC_Developer_Manual.pdf ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
