> From: Peter Wallace [mailto:p...@mesanet.com]
>
> On Wed, 28 May 2025, John Dammeyer wrote:
> >
> > Just an addendum. I do see that in the HAL file the motmod is running
with
> > 1mS servo period.
> > loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD
> > num_joints=[KINS]JOINTS num_aio=8
> >
> > So who or what is using the BASE PERIOD?
>
>
> Normally with Mesa cards, a base period is not used, all real time
processes
> run at the servo thread rate.
>
> Low resolution encoders can work well for things like threading, as you
can
> use the interpolated position to get much higher than encoder physical
> resolution, however interpolated position does not work as well when there
> are
> reversals so for things like rigid tapping, a higher resolution encoder is
> better.
>
Thank you Peter. That clears up what I was wondering about.
Rigid tapping is likely not done faster than about 600 RPM I imagine.
What's considered a higher resolution encoder?
John
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