As someone mentioned before a the an axis/joint may/will run away in case of an encoder failure.
It would be possible to detect an encoder failure by comparing output signal with encoder signal. A velocity signal may be integrated and do not allow to wander to much or an encoder error will be detected. A torque signal would be worse. Nicklas Karlsson ------------------------------------------------------------------------------ Transform Data into Opportunity. Accelerate data analysis in your applications with Intel Data Analytics Acceleration Library. Click to learn more. http://pubads.g.doubleclick.net/gampad/clk?id=278785351&iu=/4140 _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
