Reaziled I forgot to paste the bit I said I'd paste.... >From the Compact5.hal file:
# ################ # A [3] Axis # ################ # axis enable chain newsig emcmot.03.enable bit sets emcmot.03.enable FALSE net emcmot.03.enable <= axis.3.amp-enable-out net emcmot.03.enable => hpg.stepgen.03.enable pid.3.enable # position command and feedback #net emcmot.03.pos-cmd axis.3.motor-pos-cmd => pid.3.command net emcmot.03.vel-cmd axis.3.joint-vel-cmd => pid.3.command-deriv net motor.03.pos-fb <= hpg.stepgen.03.position-fb axis.3.motor-pos-fb pid.3.feedback net motor.03.command pid.3.output hpg.stepgen.03.velocity-cmd setp pid.3.error-previous-target true setp pid.3.maxerror .001 # timing parameters setp hpg.stepgen.03.dirsetup [AXIS_3]DIRSETUP setp hpg.stepgen.03.dirhold [AXIS_3]DIRHOLD setp hpg.stepgen.03.steplen [AXIS_3]STEPLEN setp hpg.stepgen.03.stepspace [AXIS_3]STEPSPACE setp hpg.stepgen.03.position-scale [AXIS_3]SCALE setp hpg.stepgen.03.maxvel [AXIS_3]STEPGEN_MAX_VEL setp hpg.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAX_ACC setp hpg.stepgen.03.control-type 1 setp hpg.stepgen.03.stepinvert [AXIS_3]STEP_INVERT #setp hpg.stepgen.03.step_type 0 setp hpg.stepgen.03.steppin 0x3E setp hpg.stepgen.03.dirpin 0x3F # set PID loop gains from inifile setp pid.3.Pgain [AXIS_3]P setp pid.3.Igain [AXIS_3]I setp pid.3.Dgain [AXIS_3]D setp pid.3.bias [AXIS_3]BIAS setp pid.3.FF0 [AXIS_3]FF0 setp pid.3.FF1 [AXIS_3]FF1 setp pid.3.FF2 [AXIS_3]FF2 setp pid.3.deadband [AXIS_3]DEADBAND setp pid.3.maxoutput [AXIS_3]MAX_OUTPUT #(JP) Add home switch input #net home-a bb_gpio.p9.in-41 => axis.3.home-sw-in #setp bb_gpio.p9.in-41.invert 1 # ################################################## # Standard I/O - EStop, Enables, Limit Switches, Etc # ################################################## # load the toolchanger loadrt toolchanger addf toolchanger servo-thread net tool-change iocontrol.0.tool-change => toolchanger.toolchange net tool-changed iocontrol.0.tool-changed <= toolchanger.toolchanged net tool-number iocontrol.0.tool-prep-number => toolchanger.toolnumber net tool-oldnumber iocontrol.0.tool-number => toolchanger.currenttoolnumber #net apos-cmd toolchanger.position-cmd hpg.stepgen.03.position-cmd net emcmot.03.pos-cmd toolchanger.position-cmd => pid.3.command #net emcmot.03.pos-cmd axis.3.motor-pos-cmd => pid.3.command net ahomed axis.3.homed toolchanger.ishomed #net motor.03.pos-cmd toolchanger.position-cmd pid.3.command net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared Mike -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
