Yes. Using HAL, you can connect the same commanded position (e.g.,
axis.0.motor-pos-cmd) to any number of things, something like
net Xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
stepgen.4.position-cmd
You can only connect one feedback position, though:
net Xpos-fbd stepgen.0.position-fb => axis.0.motor-pos-fb
so the ability to signal "following errors" based on actual external
feedback is limited. (a custom HAL component could help here, choosing
the feedback value that is furthest from the commanded value for the
purpose of aborting due to position errors)
Jeff
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