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Cascaded servos


steveneads
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Hi

 

I've been using the 0D compensation table method for cascading servo-loops. Although it works fine, it's a bit clunky if you have multiple cascades because of the limitation of having to select one place in the sequence of closing the loops for all the compensation tables to reside.

 

I've noted that you have now added the Motor[x].pCascadeCmd which looks to be a nicer method to use. However, in my 0D compensation tables, I've used the scale factor CompTable.Sf[j] parameter. Is there an equivalent to this for the new method?

 

Thanks

Steve

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