I do participate on this list, but since LinuxCNC currently has no support for the Xenomai real-time kernel (required to run on the BeagleBone) questions about BeagleBone specific details (like the PRU driver) are really more suited for the Machinekit list. I've also been on vacation in the mountains (with very limited internet access), so my apologies for the late reply.
That said, your question isn't really about the PRU driver, but about a gantry configuration. There are lots of ways to do this with LinuxCNC or Machinekit, including gantrykins, simply copying one axis to multiple drivers with HAL, or using something like the gantry component I wrote to enable similar functionality to the customized HAL code used by Probotix on machines with "outboard" stepgen (like a Mesa card or the BeagleBone's PRU...the original Probotix HAL code only works if you're running HAL based software stepgen). There are details in the list archives if you search for posts by me related to "gantry", including the comp source code. Or you can find the code here: https://github.com/machinekit/machinekit/blob/master/src/hal/components/gantry.comp The gantry component will support up to a 7 axis gantry, and has been tested with 2 and 3 joint gantry mechanisms on actual hardware (using my linear delta 3D printer to emulate a 3-joint gantry axis). You'll need home switches for each joint for proper operation, see the man page for the gantry HAL component for details. As for the PRU specific bits: You can add (or remove) step/dir generators as needed by adjusting the num_stepgens= setting of the hal_pru_generic driver when it gets loaded (typically found in the *.ini or *.hal config file). On 7/27/2014 1:07 PM, Russel Ingram wrote: > Well, actually, Sebastian, the PRU driver (hal_pru_generic) is part of the > LinuxCNC git repository. It's not in the master branch, but it is part of > the code in the linuxcnc.org git repo. The reason I posted here is that, > based on the archives for this mailing list, it looks like the guy who > wrote the PRU driver, Charles Steinkuehler, participates on this mailing > list. > > Thanks, > Russ > > > On Sat, Jul 26, 2014 at 10:28 PM, Sebastian Kuzminsky <[email protected]> > wrote: > >> On 07/26/2014 09:46 PM, Russel Ingram wrote: >>> I'm trying to get a Beaglebone Black with a Xylotex parallel port cape to >>> drive a Gecko G540 and everything works fine if I want a plain old three >>> axis setup, but my ultimate goal is to have a pair of steppers that both >>> take the same step commands but in opposite directions to drive opposite >>> ends of the Y axis on the router I'm building. It looks pretty simple in >>> the parport hal I had when I had it hooked up to a PC, but the PRU hal >>> examples seem a bit less straightforward. Is it possible to do this with >>> the PRU driver? >> >> No idea. There is no PRU driver in LinuxCNC. >> >> Maybe you're using the Machine Kit fork? You might have better luck on >> their mailing lists. -- Charles Steinkuehler [email protected]
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