external offset problem

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Grotius
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30 Apr 2018 17:02 - 30 Apr 2018 17:32 #109860 by Grotius

external offset problem was created by Grotius

Hi,

How to connect the following 3 items in the hal section ?

moveoff.0.pos-0
moveoff.0.fb-0
moveoff.0.fb-minusoffset-0

My orginal working z axis setup looks like this :

# Z-AXIS #######################################################
setp stepgen.3.position-scale [JOINT_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 35000
setp stepgen.3.dirsetup 35000
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
net zstep <= stepgen.3.step
net zdir <= stepgen.3.dir
net zenable joint.3.amp-enable-out => stepgen.3.enable
net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb

Okey now i added the item' s maybe incorrect, but program is running.

# Z-AXIS #######################################################
setp stepgen.3.position-scale [JOINT_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 35000
setp stepgen.3.dirsetup 35000
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
#net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
#net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
net zstep <= stepgen.3.step
net zdir <= stepgen.3.dir
net zenable joint.3.amp-enable-out => stepgen.3.enable
net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb


net zpos-cmd joint.3.motor-pos-cmd 
net zpos-cmd moveoff.0.pos-0

net zpos-fb  joint.3.motor-pos-fb
net zpos-fb  moveoff.0.fb-0

But next problem is : moveoff.0.offset-applied is not true.
Hmm....

Last edit: 30 Apr 2018 17:32 by Grotius.

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Grotius
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30 Apr 2018 17:43 #109861 by Grotius

Replied by Grotius on topic external offset problem

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andypugh
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02 May 2018 22:41 #110065 by andypugh

Replied by andypugh on topic external offset problem

I am not 100% sure that moveoff and external-offsets are compatible. I think that moveoff predates external-offsets and uses a different technique. Dewey would know for sure, he wrote both.

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