andy pugh wrote: > The behaviour would then be that the axis would move in A-word control > until an M3 or M4, at which point the mux would direct the speed PID > to the PWM generator. On M5 the mux would switch to the old A-axis > position control, the oneshot would trigger, loading a "true" to the > encoder.N.index-enable pin. Because the spindle is many turns away > from it's required position the A-axis PID controller will be maxed > out, so the spindle will do at least one turn past the index. When it > passes the index the encoder counts will go to zero, the PID will no > longer be saturated, and the spindle should return to the last > commanded angular position. > > And, how to do this without causing a momentary huge following error that either causes a following error abort or a servo amp trip is not clear. I think it needs some kind of gradual gain change to allow the servo to catch up gradually before going to full gain.
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