2 servo in same axis

[vortex]

Hello

I'm implementing EMC2 to machine that have two servos in X-axis.
I'm using EMC2 live cd ubuntu 8.04 and MESA 5I20 fbga card.

I managed to create new PID-loop for 4th and 5th axis, but how can i connect
X axis control to pid.3-loop ?

X axis control is automatically connected to PID.0-loop and i cant find example anywhere how its done.

I have trait to connect PID.0 input to PID.3 input, but that does not work correctly. Something do to whit feedback?

How to i do this, connect X axis command to PID.0 and PID.3 ?


Jussi

[chester88]

Hmm just off the top of my head...X axis command pin should connect to PID.0 via a signal.
connect that signal to the PID.3. Is that what you did? You need to be more specific about what you did and what error you got. I'm sure you are probably using Stepconf to build this setup. You will have to do hand editing to make this work. You should ask your question in the EMC maillist. I'm 99% positive this has been done before . How will you home the servos?

[vortex]

Hello

Thanks for reply. Problem solved.
I connected X.axis-cmd to pid.3 input.
Then I disconnect encoder feedback to joint 3 feedback.
This was because it always cave me a joint 3 following error.

Next I have to do HAL component that calculates absolute error between motor 0 and motor 3 encoder pulses. If count goes above allowed it shuts down servos.