Le sam. 16 avr. 2022 à 18:15, Torsten Curdt via Emc-developers < emc-developers@lists.sourceforge.net> a écrit :
> > > > Use encoder sending position using external feed back loop for position, > > following error and display also work as usual. > > > > Could you expand on that? > > I assume with "external feedback loop" you mean the feedback loop of the > servo or CL stepper. > > But this feedback loop decouples the real position from the meant-to-be > position. (expressed in the following error) > And I don't see how the real position could be reported back to LinuxCNC so > it's still in full control of the movement. > ...unless you connect the encoder directly to the Mesa instead of the > Closed Loop Stepper driver. > You can send the encoder feedback to lcnc as well as the drive using splitter. You can also add encoders on the axis like linear scales for the most accurate position feedback > > > > (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. > > > > Yes, there would be some lag for sure. > But this isn't possible right now, is it? > > Could this be added as a component? > Either to feed into the motion control loop - or just to monitor it? > > > ... > > > 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. > > > > I thought Mesa is reporting back the position in a 1kHz feedback loop - no? > > _______________________________________________ > Emc-developers mailing list > Emc-developers@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-developers > _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
