2012/12/28 andy pugh <[email protected]>: > On 27 December 2012 21:36, Viesturs Lācis <[email protected]> wrote: > >> 7) wrote down "counts" pin value of -103 and saved as: > >> 10) if I try to jog that joint, pid immediately gets saturated >> 11) if I comment out the encoder offset line like this: >> # setp bldc.0.encoder-offset -103 >> then I can jog that joint > > It is likely that the encoder-offset needs to be the negative of the > counts read, ie you need an encoder-offset of 103 so that the motor > zero looks like encoder zero.
Forgot to mention that I already tried that and the result was the same - pid saturated as soon as I tried to jog the joint. I will retry. And if I commented that line out, I was able to jog it, but it was really asymmetrical, which makes me think that the motor is not homed properly anyway. Can I ask anyone share their configs for 7i39 card? Andrew, I remember that You had them with some linear motors. Could You, please, share the hal file? I still think that I am making some really stupid mistake. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ Master HTML5, CSS3, ASP.NET, MVC, AJAX, Knockout.js, Web API and much more. Get web development skills now with LearnDevNow - 350+ hours of step-by-step video tutorials by Microsoft MVPs and experts. SALE $99.99 this month only -- learn more at: http://p.sf.net/sfu/learnmore_122812 _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
