Michael Haberler wrote: > motion has an issue with ferror calculation: > > during a motion cycle, ferror is computed before the new commanded position > is calculated, and based on the difference of feedback (encoder position) and > the *last* commanded position. This means that ferror - which should track a > PID's error signal quite closely - actually deviates substantially from > pid.error and may also trip following errors when in fact there isnt one. I > understand this to be an issue with torque-mode loops. > > This patch makes the behavior of motion configurable by the new > motion.ferror-mode pin. > > By default (unconnected or set to 0), behavior is as before. > If set to 1, ferror is computed only after the new commanded position is > known. This also means that the decision to raise a following error is based > on the new commanded position. > > for review, the patch is here: > http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=commit;h=dafe9eab55f209e56d08276efd65f62684b77f57 > > I will commit this into master; I leave it open as to v2.5_branch, feedback > welcome. > > WOW, gotta try this! As I may have mentioned before, this sounds like the exact situation I have seen before with my motion interfaces.
Jon ------------------------------------------------------------------------------ Master Java SE, Java EE, Eclipse, Spring, Hibernate, JavaScript, jQuery and much more. Keep your Java skills current with LearnJavaNow - 200+ hours of step-by-step video tutorials by Java experts. SALE $49.99 this month only -- learn more at: http://p.sf.net/sfu/learnmore_122612 _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
