I note on my machine that joint.N.motor-pos-cmd and joint.N.motor-pos-fb
change value after every homing and bear no relation to the actual joint
position whereas joint.N.pos-cmd and joint.N.pos-fb are always show the
same value at the same joint position.
Maybe the changes below will help.
Cheers, Phill
On 02/09/2018 23:49, Gene Heskett wrote:
On Saturday 01 September 2018 16:24:20 Gene Heskett wrote:
##########################
# lincurve needs input from Z position
# 1st, drive the Z motor from motion.0.joint.1.pos-cmd
#net Zdrive <= joint.1.pos-cmd =>
hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
net Zdrive <= joint.1.motor-pos-cmd =>
hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
# watch bwZ to see if it moves DOES
# now route feedback back to motion
#net bwZ <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
=> joint.1.motor-pos-fb
net bwZ <=
hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb => joint.1.motor-pos-fb
# now send real Z position to lincurve.0.in
#net bwZ => lincurve.0.in Z-axis-track.in
net Zactual <= joint.1.pos-cmd => lincurve.0.in
Z-axis-track.in
# lincurve.0.in is Z's position
# so now send lincurve.0.out to X via offset.0.offset
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