> ... > How come you send the velocity commands and not target positions? Size of > the positioning data I assume? > > I can see this to be super useful when there is an external encoder - so > linuxcnc is in full control. > But what's the benefit with e.g. Servos and Closed Loop Stepper that have > their internal encoder and control loop?
Sending out position instead of velocity also work. Use encoder sending position using external feed back loop for position, following error and display also work as usual. > ... > (Another crazy(?) thought I had was to have an acceleration sensor as > incoming feedback. To help with servo parameterization.) Should help at least then there is elasticity in between motor and position feed back. > ... > It feels like sending the velocity commands over ethernet also means some > kind of buffering, but I guess the 1kHz feedback loop is the big difference > here. NML is for the non real time stuff so no 1kHz feedback loop there. Nicklas SB Karlsson _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
