Position Loop tuning plotting data sources

[colinleer]

I'm experimenting with the trajectory pre-filter in the interactive position loop tuning tool. 

I have an encoder on my end effector that is measuring the resonance I am trying to get rid of, and it is plugged into another motor encoder input on the PMAC.

Is it possible to plot this encoder data in the tuning tool graph?

In short, I'm using the tuning tool on Motor 3, but would like to also plot the encoder input from Motor 4. 

Thanks

[steve.milici]

Just “set up” motor #4 to use this encoder and activate the motor. Then motor #4’s position will be a selection from the sources menu in the “plot” application:

Motor[4].pEnc=EncTable[4].a

Motor[4].pEnc2=EncTable[4].a

Motor[4].Ctrl=Sys.ServoCtrl

Motor[x].ServoCtrl = 1

 

This should be enough to see the encoder as position for motor#4 – just don’t “enable” (#4j/) the motor as other settings needed for proper closed loop operation have not been set up.