The "stepgen" HAL module has a tuned feedback loop between the slow
("servo") thread and the fast ("base") thread, and it also has
parameters to control the maximum acceleration and velocity. Whatever
position command you give stepgen, it issues properly-spaced steps that
track that position as cl
Anders,
In case of stepper, the step generator, in the absense of encoders, has to
comeup with a simulated actual position, correct? so if the desired
position is, lets say 100 and the actual position is 0, the step gen will
produce 100 pulses? who is going to control the freq of this pulse trai
they wire the joint position command to the set-point
input of a PID loop.
so the pid loop tries to bring the actual position to the command position.
this explains why the motor resists forced motion.
thanks, that was really helpful
Larry
On 2/12/07, Anders Wallin <[EMAIL PROTECTED]> wrot
> hi
> I'd like to know how the position control works in emc. the pid params
> I see are only for axis speed control, what I can't understand is how
> emc holds the motor at a particlar position and apply opposing force if
> tried to rotate. I was expecting to see pid params for position loop
hi
I'd like to know how the position control works in emc. the pid params I
see are only for axis speed control, what I can't understand is how emc
holds the motor at a particlar position and apply opposing force if tried to
rotate. I was expecting to see pid params for position loop, but canno
