To capture the axis values shown while an EMC2-controlled mechanism moves, read the continuously updated axis.N.motor-pos-fb feedback variables. This provides position feedback, but it does not by itself create a teach-mode program or prove that the feedback values use the same coordinate frame displayed on the main page.
Read the axis feedback values
axis.N.motor-pos-fb supplies the continuously updated motor-position feedback for axis index N. Read the applicable variable after manually or automatically positioning the mechanism and stopping at the required point.
axis.N.motor-pos-fbThe evidence does not define the index assigned to X, Y, or Z. Confirm each index by moving one axis at a time and observing which feedback value changes.
Separate position capture from teach mode
| Function | Evidence-supported behavior | Remaining requirement |
|---|---|---|
| Position feedback |
axis.N.motor-pos-fb updates continuously. |
Identify the index for each controlled axis. |
| Waypoint capture | A stopped position can be read from the feedback variables. | A script or other recording mechanism must save accepted positions. |
| Automatic replay | Saved positions can conceptually form the motion sequence. | The evidence supplies no tested EMC2 configuration or program-generation method. |
A teacher or self-learning workflow records only the manually selected positions or operations, then replays that saved sequence automatically. Continuous feedback is therefore the input to such a workflow, not the complete feature.
Build the waypoint-recording workflow
- Move the arm manually to the required pose.
- Stop motion and read every applicable
axis.N.motor-pos-fbvalue. - Verify which feedback index belongs to each commanded axis by observing changes during isolated manual moves.
- Save the accepted set of positions as one waypoint.
- Repeat for each required pose, preserving the intended execution order.
- Translate the saved waypoints into the existing NGC workflow only after confirming their coordinate meaning and axis order.
The current manual method—reading displayed values, writing them into an NGC file, and executing that file—shows the required data path. Automating it requires a recorder that performs the read-and-save steps without manual transcription.
Verify coordinates before replay
Do not assume that motor feedback is identical to the displayed or programmed coordinate without testing. At a stopped pose, compare each displayed value with its candidate motor-pos-fb value, then repeat after positive and negative movement. Confirm axis association, sign, and coordinate offset before generating or replaying any path.
A hexapod-sim sample and a menu item named script were suggested, but the evidence explicitly reports that this approach was not tested. Treat it only as an investigation lead; the evidence does not establish that it provides teach mode, requires a joystick, or records an NGC program.
FAQ
How do I read live axis position feedback in EMC2?
Read axis.N.motor-pos-fb. The value updates continuously with motor-position feedback; determine the correct N for each axis by moving one axis at a time.
Does axis.N.motor-pos-fb automatically create G-code?
No. It provides feedback values only. A separate script or recorder must save selected waypoints and translate them into the required NGC motion sequence.
Does EMC2 have a confirmed teacher or self-learning mode?
The evidence does not confirm a tested built-in teacher workflow. hexapod-sim and its script menu were suggested but not verified, so validate them in simulation before relying on them.