On Thursday 05 March 2020 07:16:20 andy pugh wrote: > On Thu, 5 Mar 2020 at 03:14, Gene Heskett <[email protected]> wrote: > > encoder. But from reading that, I fail to deduct a source for > > cmd.deriv. > > It's a feed-forward input, and the source would be the velocity output > from the motion controller for that joint. > (ie, the motion system outputs both a current position _and_ current > velocity for each joint actuator)
Thanks Andy. Since I might have to dig into that, I may as well "do it right". But this is the signal I was instructed to disconnect a couple years ago to get rid of my instant following errors, so it sounds as if my default setting for FF1=1 is wrong. Whats the proper starter value for all the FF#'s then? Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) If we desire respect for the law, we must first make the law respectable. - Louis D. Brandeis Genes Web page <http://geneslinuxbox.net:6309/gene> _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
