Can you verify that encoder position or pos-fb doesn't change after a few seconds?
Just so we know?
You may not be able to fire up halscope in time for that,
or if you are unable to catch it in halshow.
I propose you use sampler/halsampler.
Add last in your hal file
Code:
loadrt sampler depth=10000 cfg=fs
addf sampler.0 servo-thread
net z-pos-fb sampler.0.pin.0 # net for z position feedback to the joint
net z-drv-act-pos sample.0.pin.1 # net between cia402 and lcec for z actual-position
Adjust net names to yours.
Within a few (10 max) seconds after you started linuxcnc type the command "halsampler -t data.out"
After the coordinate on the axis screen has happened, hit Control-C on halsampler.
You have now a readable file of recorded values. Open the file in Excel/Calc and plot XY plot.
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