Oh, it's more interesting than this. It seems the step output is sometimes a
square wave (with approximately 2ms period). If I jog a bit and stop, it
sometimes settles down to low, sometimes it has a couple pulses then a longer
high or low value. It's very curious and odd. Here's video showing what I see
on the scope:
https://www.youtube.com/watch?v=tQkF8TRVVpk
> On Apr 5, 2018, at 00:50 , Rick Mann <[email protected]> wrote:
>
> After help from Bas (thank you), I got MachineKit working on a Beaglebone
> Black and driving a ClearPath stepper. Here's a video:
>
> https://www.youtube.com/watch?v=f3kdqH8Miyg
>
> I notice on the oscilloscope (but not visible in the video above) that the
> step direction output changes when I stop jogging and the servo slows down
> from the jog speed it was going at.
>
> Can anyone tell me why it does this? Is it in an effort to "apply the brakes"
> to the moving stepper? This is not necessary with the ClearPath servo, which
> will faithfully the number of steps commanded at the commanded speed (within
> limits, of course).
>
> For reference, the HAL file <https://pastebin.com/cMTUiW7u>, and the .ini
> file <https://pastebin.com/eBLxpUh4>. Note I've only adjusted the pin
> addresses for axis 0 in the HAL, and the path to the PRU binary in the .ini.
> It's the same as the pru-stepper otherwise.
>
> Thanks!
>
> --
> Rick
>
> --
> website: http://www.machinekit.io blog: http://blog.machinekit.io github:
> https://github.com/machinekit
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--
Rick Mann
[email protected]
--
website: http://www.machinekit.io blog: http://blog.machinekit.io github:
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