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With a linear encoder on the axis, could a BLDC with hall sensors have precision holding torque ?
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Wow, cool! Keep it going!
_Mark
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Just FYI:
The new OpenPnP Motion Control also needs G92 and M114 support for all the axes. More specifically M114 with and without the R letter (M114_REALTIME)
Strangely that R letter command option is undocumented, but
fortunately in the code.
https://marlinfw.org/docs/gcode/M114.html
_Mark
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G1 X100 Y200 Z300 A400 B500 C600 F5000
ok
M114 R
X:8.89 Y:17.79 Z:26.68 A:35.54 B:44.44 C:53.24 E:0.00 Count X:890 Y:1781 Z:2671 A:3559 B:4449 C:5331
ok
M114 R
X:22.70 Y:45.40 Z:68.09 A:90.76 B:113.46 C:136.07 E:0.00 Count X:2271 Y:4542 Z:6813 A:9082 B:11353 C:13615
ok
M114 R
X:35.27 Y:70.54 Z:105.81 A:141.05 B:176.32 C:211.50 E:0.00 Count X:3529 Y:7057 Z:10586 A:14112 B:17641 C:21160
ok
M114 R
X:51.74 Y:103.48 Z:155.21 A:206.93 B:258.67 C:310.31 E:0.00 Count X:5176 Y:10351 Z:15527 A:20699 B:25875 C:31041
ok
M114 R
X:66.30 Y:132.60 Z:198.90 A:265.17 B:331.47 C:397.68 E:0.00 Count X:6632 Y:13264 Z:19895 A:26524 B:33156 C:39779
ok
M114 R
X:81.92 Y:163.85 Z:245.77 A:327.67 B:409.60 C:491.43 E:0.00 Count X:8194 Y:16388 Z:24582 A:32774 B:40968 C:49153
ok
M114 R
X:97.66 Y:195.32 Z:292.97 A:390.60 B:488.26 C:585.83 E:0.00 Count X:9768 Y:19535 Z:29303 A:39068 B:48835 C:58594
ok
M114 R
X:100.00 Y:200.00 Z:300.00 A:399.97 B:499.97 C:599.88 E:0.00 Count X:10000 Y:20000 Z:30000 A:39997 B:49997 C:59988
ok
M114 R
X:100.00 Y:200.00 Z:300.00 A:399.97 B:499.97 C:599.88 E:0.00 Count X:10000 Y:20000 Z:30000 A:39997 B:49997 C:59988
ok
M114
X:100.00 Y:200.00 Z:300.00 A:400.00 B:500.00 C:600.00 E:0.00 Count X:10000 Y:20000 Z:30000 A:40000 B:50000 C:60000
ok
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Hi Bill
Rurns out, it may also work without that.
You might have seen, that I worked on (optional) asynchronous
operation, i.e. the commands are no longer individually waited
for, so both OpenPnP and the controller can exploit parallelisms
and in case of the controller, some look-ahead strategies, to
avoid deceleration.
However, because I'm no longer tracking the "ok" from the
controller one by one, I now need some kind of unique and reliable
"marker" in the response stream to identify when the M400 (wait
for motion completion) has in deed completed. Sending an M114 R
after the M400 would do that nicely, as I can then double-check
the true current position, even regardless of commands sent since.
However, the coordinate comparison check is not yet implemented
and still, my tests worked flawlessly so far, as the M114 reports
are of course still good markers in the response stream and as
long as no other Gcode issues M114 R, the REGEX match alone
(without comparing coordinates) will be conclusive.
_Mark
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