Jeff Epler wrote: > hm I am seeing something similar with the step generator. Its feedback > position never changes. no errors in dmesg.
Yes, I can reproduce this here - stepgen doesnt work on the 5i20. Sorry guys... How embarassing. :-( My test setup consists of a PC running emc2 TRUNK. It's got a 7i43 plugged into a parport and a 5i20 on the PCI bus. The 7i43 has two steppers on it, and the 5i20 has 3 servos on it. This setup conspicuously doesnt test steppers on the 5i20 or servos on the 7i43. I dont currently have the hardware to have both servos and steppers plugged into both the 7i43 and the 5i20, so my testing isnt as good as it should be... I should fix that... The HAL config I test with leaves one of the 5i20 servos un-driven, reads its encoder as a kind of MPG, and drives the other two 5i20 servos and the two 7i43 steppers to copy its position. So i can twist the motor shaft of the third servo and the other four motors follow it. Anyway. Here are some observations: 7i43: Using firmware SVST4_4S.BIT Enable raw mode (config="enable_raw"). (Raw mode is documented in hostmot2(9), it's Peter's idea and it's really handy for this kind of debugging.) Set raw.read_address to 0x2100 (stepgen.00's Accumulator register). Run one halmeter watching the pin "stepgen.00.debug.rate" and one watching the pin "raw.read_data" (ie, the value at address 0x2100). Command stepgen.00 to move and I can see the Rate register commanding the FPGA to step, and I can see the stepgen's reported position in the Accumulator increasing, and I can see the stepper motor turn. 5i20: Using firmware SVST8_4.BIT Same setup (enable raw mode, tell raw to read the stepgen.00 Accumulator at 0x2100, and use halmeter to watch stepgen.00.debug.rate and raw.read_data). Command stepgen.00 to move and I can se the Rate register commanding the FPGA to step, but I do *not* see the stepgen's reported position in the Accumulator increasing. (Since there's no stepper or oscilloscope on the stepgen.00 pins, I really dont know what the control lines are doing, but the Accumulator register should definately increase.) I've taken a screenshot showing this, it's at <http://highlab.com/~seb/snapshot1.png>. There are six halmeters. The three on the left are looking at 7i43, the three on the right are looking at the 5i20. stepgen.00 on both boards are getting the same position-cmd (because they're netted together in the "follow-the-leader" net, show in the halcmd output). However, the 7i43 has long since gotten there, and it's Rate is now 0 and it's Accumulator has the number of steps it took to get there. The 5i20 on the other hand is commanding a high Rate, and it's Accumulator still shows 0. Both go through the same code path in the hostmot2 driver, so this behavior is strange to me. Peter, could you make the stepgen Rate register read/write, so I can read back the command for sanity checking? -- Sebastian Kuzminsky Cryogenic travel has improved since then... I woke screaming in a translucent box. “There, there,” said the box. “Everything will be all right. Have some coffee.” -- Ken Macleod, "Who's afraid of Wolf 359" <http://outofthiseos.typepad.com/blog/files/KenMacleodWhosAfraidofWolf359.htm> ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
