I also noticed some other signals that may be useful?
axis.N.homing OUT bit
#TRUE if the joint is currently homing
axis.N.home-sw-in IN bit
#Should be driven TRUE if the home switch for this joint is closed
axis.N.home-state
#Reflects the step of homing currently taking place
axis.N.homed
#TRUE if the joint has been homed
I wonder what the possible values of home-state are and how they could be
used.
>Len
-----Original Message-----
From: Len Shelton [mailto:l...@probotix.com]
Sent: Saturday, April 11, 2009 5:46 AM
To: 'Enhanced Machine Controller (EMC)'
Subject: Re: [Emc-users] syncing two motors to one axis
Thanks for the help so far. I did some studying of the manual last night and
this is what I have come up with based upon your logic:
loadrt and2 count=3
loadrt or2 count=2
addf and2.0 base-thread
addf or2.0 base-thread
net home1 parport.0.pin-10-in and2.0.in0
net home2 parport.0.pin-11-in and2.0.in1
net home1inv <= parport.0.pin-10-in-invert
net home2inv <= parport.0.pin-11-in-invert
net home and2.0.out
net home => axis.1.home-sw-in
net doh1a Ydir or2.0.in0
net doh1b home1inv or2.0.in1
net doh1 or2.0.out
net doh2a Ydir or2.1.in0
net doh2b home2inv or2.1.in1
net doh2 or2.1.out
net ystep1a Ystep and2.1.in0
net ystep1b doh1 and2.1.in1
net ystep1 and2.1.out
net ystep2a Ystep and2.2.in0
net ystep2b doh2 and2.2.in1
net ystep2 and2.2.out
net Xstep => parport.0.pin-03-out
net Xdir => parport.0.pin-02-out
net ystep1 => parport.0.pin-05-out
net ystep2 => parport.0.pin-07-out
net ydir => parport.0.pin-04-out parport.0.pin-06-out
net Zstep => parport.0.pin-09-out
net Zdir => parport.0.pin-08-out
I am unsure of some of the syntax, and this is untested. I will be back in
the shop in a few hours and will be able to try it out.
Do you see anything blatantly wrong with any of my code?
Do I have to name every signal, particularly the ones to the inputs of the
logic gates? In other words is:
net home1 parport.0.pin-10-in and2.0.in0
the same as:
net parport.0.pin-10-in and2.0.in0
?
>Len
-----Original Message-----
From: Stephen Wille Padnos [mailto:spad...@sover.net]
Sent: Friday, April 10, 2009 10:32 AM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] syncing two motors to one axis
Len Shelton wrote:
>Jon and Rob,
>
>You guys obviously know a lot more about the inner working of HAL than I. I
>am still no closer to understanding what lines of code I need to put into
my
>HAL file.
>
>Can you please translate this simple boolean text notation...
>
> home_en1 = dir OR NOT home1
> home_en2 = dir OR NOT home2
> step_1 = step AND home_en1
> step_2 = step AND home_en2
> home = ( ( home1 AND home2 ) AND NOT dir ) OR ( ( home 1 OR home2 )
> AND dir )
>
>...to actual HAL syntax.
>
>
Well, I'll point you in the right direction anyway :)
First off, the manual sections on HAL are quite good - you should (re)
read them.
I'm not sure your logic is correct. I don't believe that the home
signal should depend on the DIR signal. I'm pretty sure that home
should just be (home1 AND home2). If both switches are closed, then
you're home regardless of which way the DIR line is pointing.
Looking at your logic description, these things are apparent:
1) there are four occurrences of the word "OR"
2) there are five occurrences of the word "AND"
3) there are three occurrences of the word "NOT". Luckily, all of the
signals that get inverted come from I/O (if you're using my HOME
equation), which provides both a normal and inverted output to HAL, so
you don't actually need any NOT functions
4) all of the logical operations are operating on exactly two items (ie,
there is no "a OR b OR c")
5) This is for only one axis (phew!)
6) Changing the home equation to home=(home1 AND home2) reduces the
number of gates to 2x OR, 3x AND, and zero NOT (since you can use the
inverted home1 and home2 inputs)
Here's how to get 3 AND "gates":
loadrt and2 count=3
This will give you 3 two-input AND gates. Each one has a function which
needs to be added to your base thread, before the motion controller
runs. This will be a little tricky to get right, since you want to read
inputs before doing the logic operations, and you want results to
propagate through the logic caluclations correctly, you have to think
about which "inputs" get connected to which logic elements, and the
order in which they are evaluated. I'd suggest drawing this out on
paper, using a grid. Start with the inputs on the left, run them
towards the right, using columns with only one gate in each logic path.
When you add functions to the HAL thread, start at the top left and add
the first column of functions from top to bottom. Then move over one
column to the right and add those functions from top to bottom.
This is the logic I would use, which may make the order the functions
need to run mode obvious:
step1 = step AND (dir OR home1-invert)
step2 = step AND (dir OR home2-invert)
home = (home1 AND home2)
Sorry for the long-winded and not very specific post. Hope it helps.
- Steve
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