On Sat, 3 Jan 2009, Kirk Wallace wrote:
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>
> With only step and direction signals on stepper driver inputs, EMC has
> no way of modifying the stepper driver behavior. The driver would need
> something like a step bias or correction input, which EMC could probably
> be configured to work with. If you want to compensate for missed steps,
> EMC can send more steps as needed, but you will most likely end up with
> just more missed steps until you get a following error, just like when a
> servo stalls. Those that have encoders on there stepper machines, may
> correct me on this.
Well it may be possible to avoid missing steps because once aligned, the
encoder count mod (mumble mumble) can tell EMC the mechanical rotor phase, and
the step count mod (numble numble) tells EMC the stator electrical phase so a
kind of D-term only vector drive is created. Whether its practical or stable
is an _interesting_ question...
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Peter Wallace
Mesa Electronics
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