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Relative Jogging with j^* with a CamTable applied
#1
I am experiencing a weird issue, not sure if it is a bug or not.

I am currently using a CamTable to apply a constant offset to to one of my axes. I am using CamTable[0].PosBias to adjust the position "on the fly" and I am using CamTable[0].SlewPosOffset = 0.1 as the slew rate.

See this thread for more details on how I set this up:
http://forums.deltatau.com/showthread.php?tid=2636

However if the PosBias is non 0 then incremental jogging does not work at all as expected.

Lets say the PosBias is set to 200
If I call "j^*" with a ProgJogPos set to 100 then I end up moving +300 motor units
If I call "j^*" with a ProgJogPos set to -100 then I end up moving +100 motor units

It appears the PosBias value is being added to the jog before it is executed. Is this the expected behavior?

j^* is supposed to move from the "actual" position, so I would not expect this to happen. Is there any workarounds to get my desired behavior?
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#2
While the intent of the “PosBias” element for CamTables was not for "on the fly" use (but for initialization), you can do this. I might suspect an interaction of the “slew rate” with the jog move. I would need to know more about how “PosBias” is being changed. This is probably better handled as a technical support issue. Contact me at support@deltatau.com with details on how you implement the "on the fly" use.
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