On Thursday 10 September 2020 15:07:51 Peter C. Wallace wrote:
> On Thu, 10 Sep 2020, Gene Heskett wrote:
> > Date: Thu, 10 Sep 2020 13:53:24 -0400
> > From: Gene Heskett <[email protected]>
> > Reply-To: "Enhanced Machine Controller (EMC)"
> > <[email protected]>
> > To: "Enhanced Machine Controller (EMC)"
> > <[email protected]> Subject: [Emc-users] Q for Peter
> > CW.
> >
> > Greetings Peter;
> >
> > How hard would it be to convert the joint.#.free-tp-enable into
> > move-is-in-progress signal?
>
> I think I would just use the "near" component on the commanded joint
> velocity so when the commanded joint velocity is very "near" 0, the
> current is lowered
>
True but subject to the time granularity of the servo-loop, and not fast
enough to catch the first step without thinking about addf ordering.
I'd like to home it, and not worry about losing steps.
hal snippets welcome.
Thanks Peter.
>
> Peter Wallace
> Mesa Electronics
>
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Cheers, Gene Heskett
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