This mean than, that I cannot use two servo motors for the same axis,
because each motor has its own encoder. Is it than possible to use two axis,
to control same joint?
On Sun, Oct 19, 2008 at 4:25 PM, Jeff Epler <[EMAIL PROTECTED]> wrote:
> 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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