How about:
IF following error is large (set by user?)
AND handwheel counts have stopped increasing/decreasing for a short time (1/4 second? user set?)
THEN stop the axis.
Then slower hand moves will still move exactly (because small follow error) and very fast moves will stop before trouble arrives (hopefully!!)
Is this possible? I don't know if handwheel movments keep track of following error.
Chris Morley
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