On Fri, 24 Apr 2020, David Berndt wrote:
Date: Fri, 24 Apr 2020 19:02:54 -0400
From: David Berndt <[email protected]>
To: "Enhanced Machine Controller (EMC)" <[email protected]>,
Peter C. Wallace <[email protected]>
Subject: Re: [Emc-users] Encoder reset on homing to index
If I understand you correctly that would be the goal. But how do I tie them
together?
As I understand it now I'll need to detect when index-enable changes state to
false, as an indication of the preferred index signal being detected. Then
fire a oneshot to encoder.LinearNumber.reset
I was suggesting that you wire the preferred physical index signal
to both encoder inputs, Then connect motions index-enable pin to both
encoder index enables in hal, no one-shots or resets involved.
In general you would not want to do a physical encoder counter reset
in hal (at least when in motion) because:
1. Its not synchronized with the actual index signal so it will cause a
somewhat random count error proportional to velocity (random because
the time of index occurance is random compared to the counter reset at the
servo-thread write time)
2. Resetting the counter will corrupt the velocity calculation
-Dave
On Fri, 24 Apr 2020 18:20:07 -0400, Peter C. Wallace <[email protected]> wrote:
On Fri, 24 Apr 2020, David Berndt wrote:
Date: Fri, 24 Apr 2020 17:19:10 -0400
From: David Berndt <[email protected]>
Reply-To: "Enhanced Machine Controller (EMC)"
<[email protected]>
To: [email protected]
Subject: [Emc-users] Encoder reset on homing to index
Can anyone enlighten me as to how hm2_5i25.0.encoder.N.position seems to
get reset during homing to index? I assume somethnig is triggering
hm2_5i25.0.encoder.N.reset? But I don't see that plumbed up anywhere in my
HAL.
I'm adding a linear encoder to a servo axis and am retaining my servo
homing, but when it homes I need to zero the linear encoder as well if the
rotary is going to zero to avoid huge f-errors and other issues...
Thanks,
-Dave
Why dont you use the preferred index signal to zero both encoders?
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Peter Wallace
Mesa Electronics
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Mesa Electronics
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