Hi Aram I'm going to use a stepper example here. The principles are the same.
When you look at a standard running version using three or four axes you'll see that the pins and parameters named axis in HAL only exist for the number of axes setup during the loading of that module. You'll also see that it gets this info from the INI file used during startup. That line is; # motion controller, get name and thread periods from ini file loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES So if you add the defines for the extra three axes and modify the stuff in the traj section to 6 rather than three you will get those all listed into the HAL from the motion section of the EMC. Next you will need to connect each of those "axes" pins to all of the stuff they need to go through and to the proper mesa pins. For this you can pretty much copy a set of connections for any of the stock axes and simply change the number that the connection refers to. This example shows So for example, # connect position commands from motion module to step generator net Xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd net Ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd net Zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd These are the stock connections in the sample config I chose to use. net Xpos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd net Ypos-cmd axis.4.motor-pos-cmd => stepgen.4.position-cmd net Zpos-cmd axis.5.motor-pos-cmd => stepgen.5.position-cmd and these are the ones that MUST be added to begin the process of connecting the extra axes. You should follow this process through all of the connections needed right out to the mesa pins. I presume that you will put the first four axes on the first mesa card and the last two on the second. If so, the naming conventions for that step will be just a bit different. # Connect PID output signals to DACs. linksp Xoutput => m5i20.0.dac-00-value linksp Youtput => m5i20.0.dac-01-value linksp Zoutput => m5i20.0.dac-02-value These are stock connections for output. You'll add this to the first mesa board. linksp Zoutput => m5i20.0.dac-03-value Then you'll need to change boards for the last two. linksp Xoutput => m5i20.1.dac-00-value linksp Youtput => m5i20.1.dac-01-value You'll repeat this process for all of the motion and IO connections that need to be made. And last but very important is fixing the kinematics to match the kind of machine you are connecting these six motors to. I'm not going to touch that with any advice. Rayh BTW -- I'd abandon the attempts to express your discontent with us. You've said it enough. On Fri, 2008-05-16 at 21:13 -0600, [EMAIL PROTECTED] wrote: > Hi > I build system with 2 5i20 and 2 analog cards. I am looking for direction > into to activate 6 axis. I did add axis last year with help of Steve. This > time I will document every single click of how do that because it will be > part of my theses for my school. ------------------------------------------------------------------------- This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2008. http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
