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[00:07:53] <cradek> it wouldn't
[00:08:37] <cradek> the command moves a half inch, the feedback doesn't move at all, integrator winds up, ferror doesn't trip because |command-feedback| < 1inch
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[01:00:37] <PCW> yeah failed encoders are bad
[01:03:29] <andypugh> I should know this, it is _exactly_ the problem I am chasing at work. Though in that case it is the position of the thermostat
[01:04:04] <andypugh> (luckily that problem careers towards cold engine, not melted engine)
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[01:13:30] <PCW> I think it would be good to have an encoder sanity check for indexed encoders,
[01:13:31] <PCW> that would probably have caught this right away
[01:14:54] <PCW> (dont know if Jon E's hardware can do latch on index or just clear on index)
[01:15:06] <andypugh> That sounds like an idea worth elaborating on on the dev mailing list…
[01:16:12] <PCW> yeah could be added to the software encoder as a first model
[01:17:31] <cradek> the reporting of this was so bad
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[01:17:42] <cradek> sometimes it happened on different axes, or all of them
[01:18:01] <cradek> and it wasn't reported that homing also ran away (surely they tried to home), only jogging
[01:18:34] <cradek> it led to lots of really terrible advice (no fault of the answerers)
[01:19:15] <PCW> a reasonable FE limit should catch this also
[01:19:51] <PCW> Yeah I had not thought that it might be a runaway
[01:20:51] <PCW> For a sanity check, my theory is you always latch the count at index and check that successive latched counts always differ by counts/turn (or 0)
[01:24:51] <andypugh> If they lost AB then they probably lost Z. Not that your idea isn’t excellent, as it would also trap missed counts.
[01:27:49] <PCW> for velocity mode servos a little fuzzy logic would help as well
[01:27:51] <PCW> (The PID loop is commanding a velocity V, If the encoder velocity is not close to V for X mS = trouble)
[01:29:34] <PCW> ( Another reason to scale the PID loop in machine units )
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[01:31:22] <andypugh> add v-error to f-error…
[01:32:59] <PCW> the PID comp has all it needs to do this check (FB deriv and its own output)
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[10:47:45] <KGB-linuxcnc> 03John Thornton 052.7 367ecfd 06linuxcnc 10docs/src/hal/parallel-port.txt Docs: fix incorrect text and simplify description for new users. * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=367ecfd
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[16:38:31] <seb_kuzminsky> jthornton: does your commit address the problem todd zuercher raised on the mailing list?
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[17:57:04] <jthornton> seb_kuzminsky, yes
[17:57:34] <seb_kuzminsky> great
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