khalil-yazji Posted August 28, 2019 Share Posted August 28, 2019 I'm controlling few motors in a robot using Power PMAC and I want to find a way to detect when the robot is idle and when it is moving, I used Coord[x].InPos in the testing and it seems to be doing what I need but I'm not sure if this is the correct way of detecting idle motors, or is there a better way to do it. Link to comment Share on other sites More sharing options...
Eric Hotchkiss Posted August 28, 2019 Share Posted August 28, 2019 You could also check Coord[x].DesVelZero. Instead of waiting for the following error to drop like InPos, it will go true as soon as the commanded trajectory stops moving. Link to comment Share on other sites More sharing options...
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