Maybe you've already tried this, but I would think the easiest way is to use PNCcofig to create an ordinary stepper configuration. It will set up a velocity mode config with the hardware stepgen sending the feedback to close the pid loop. Get that working. Then modify that config by adding the encoder reading, and replace the stepgen's feed back with the encoder's feedback to the pid loop and to the axis.N.pos-fb (or joint.N.pos-fb in Master) Then adjust the P tuning till it "works". I have such a setup on a machine using step/dir servos, and using it with step motors would be exactly the same (except for the PID tuning.)
The trick is to only try making one major modification at a time. So first get a velocity mode stepgen config working (without encoder feedback), Then add encoder feedback (do it one axis at a time.) First get the DRO's working with the encoder feedback. Then connect the encoders to the PID loops. ----- Original Message ----- From: "Tom Easterday" <tom-...@bgp.nu> To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net> Sent: Monday, June 26, 2017 8:37:47 AM Subject: Re: [Emc-users] steppers with encoders in closed loop Exactly, and any help in getting my stall detection and position tracking working using velocity mode would be greatly appreciated 😀 -Tom > On Jun 26, 2017, at 6:52 AM, Rene Hopf <reneh...@mac.com> wrote: > > there is no benefit in using them in linuxcnc, apart from stall detection or > position tracking. > ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
