Explicit position feedback correction/smoothing implementation

[qchen3]

For a motion axis with limited position feedback resolution, its original position feedback needs to be explicitly corrected and smoothed out instead of using standard filters provided by Power PMAC.

 

What is a good implementation approach at each servo sampling cycle so that this corrected position can be used for

(1) Its own closed loop servo control

(2) Master command for a slaved motion axis.

[Sina.Sattari]

You can use the user-written phase for any unused motors. Since phase calculations are executing before the servo cycle, the Enocder Conversion Table can be setup to pick up the calculated and filtered result from a scratch memory (i.e. user buffer location). This can be used both for axis servo position and also as master command for slave. Make sure you're skipping enough phase cycles such that your code is only executing every servo cycle.