Hello, all, In the servo systems I put together, there are 3 machine states. E-stop, machine off, and machine on. When a following error occurs, EMC goes to machine off, which allows velocity servo amps to drift with a zero velocity command but no positioning loop. (Getting to this state is of some use to trim the velocity offset to zero.) But, it would be a lot better to make EMC2 go to E-stop on a following error, to stop the drift. I guess I could connect the servo amp enables up, but that takes up extra digital outputs. Is there an available HAL pin that reports the transition to machine off, so I could wire that into my existing E-stop logic?
Thanks, Jon ------------------------------------------------------------------------------ This SF.net email is sponsored by Sprint What will you do first with EVO, the first 4G phone? Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
