drive does the position scaling . for example it shows position in mm . so you say that i don't need to do anything in controller side ?
i have noticed that you consider Cyclic Synchronous Position Mode as a better option for use with Linuxcnc, Ethercat and Cia402 combination . is it true ? closing the loop in controler side does not provide enough accuracy comparing to closing the loop in drive side ?
i mean considering that ethercat has a 1ms sync loop, it will not give a good accuracy if we use it for high speed and high accuracy tasks if we use controller side pid control or loop closing. have i understanded your comments right?
The Cia Comp only does scaling from an incoming position/velocity register.
If you have got raw increment count whose pos scaling can not be done in the drive,
then you would need an "encoder comp" which handels register overflow etc.. to get an working input value for lcncs pid.
this comp will need 2 functions for input and output, to get added at the right positions in the realtime cycle. the output function would be for getting the right pos command from pid back to the drive.
manual encoder handling is coded in the em7004 lcec module, you can extract this to an standalone comp.
if you have a little advanced c-expierence, the better way would be to create a comp which includes the lcec encoder class.
