Following a discussion with Jepler on IRC just now about whether to add this to either of the EMC2 branches:
The question that remains unresolved is how to tie the initialisation / orientation phase into the starup sequence. The HAL file I used for testing has the following code: net estop-out iocontrol.0.user-enable-out => bldc-sine.0.init => iocontrol.0.emc-enable-in pid.0.enable net align bldc-sine.0.init-done => motion.enable This runs the alignment sequence as soon as the machine comes out of e-stop (F1). The drawback is that to do this in most machines it would be necessary to bypass the amp-enable signal. An alternative would be to perform the init on "enable" (F2), which would allow the amp-enable to be used conventionally, but might also cause spurious and troublesome re-orientations. The issue is that the orientation has to happen with the amps enabled, but with motion (and f-error detection) off, and it needs to happen at the appropriate time in the startup sequence. -- atp ------------------------------------------------------------------------------ The Palm PDK Hot Apps Program offers developers who use the Plug-In Development Kit to bring their C/C++ apps to Palm for a share of $1 Million in cash or HP Products. Visit us here for more details: http://ad.doubleclick.net/clk;226879339;13503038;l? http://clk.atdmt.com/CRS/go/247765532/direct/01/ _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
