2011/5/17 Dave <[email protected]>: > If you can create the stepgen and a few other components you can go > beyond the interpreter limit.
Thanks for the sample! It really seems doable. But I do have few questions / comments. I hope that You can help me clarifying them. > This is not really an X axis although I used the X axis values out of > the INI file (Axis_0 - not necessary). This axis is not connected to > the interpreter. It is driven by CL. > > Everything accels and decels like it should. Very simple once you try it. > > I'm sure this could be cleaned up but I just snipped it out of a > existing hal file. > > The is actually running on a machine so I know it works. > > Dave :-) > > # ################ > # X [0] Axis > # ################ > > > Drive 1 - X axis > > #Divide CL floatout by 100 to get proper scaling - actually multiply by .01 > setp mult2.0.in0 0.01 > net mult201 mult2.0.in1 <= classicladder.0.floatout-00 What data is feeded to classicladder.0.floatout-00? Commanded position of motor? Then I am curious, how is that commanded position calculated in classicladder? There will be some starting position and on some input trigger the movement should start. How does classicladder it? Calculates commanded position each servo cycle? Could You, please, expand on this topic a little more? > #Tie classic ladder drive control out (/100) to Limit3 input > net limit3_0in limit3.0.in <= mult2.0.out > > #setp limit3.0.maxv 5 # to be set via Modbus > net limit30maxv classicladder.0.floatout-01 => limit3.0.maxv > > #setp limit3.0.maxa 25 # to be set via Modbus > net limit30maxa classicladder.0.floatout-02 => limit3.0.maxa Is this something specific for that particular machine that I should skip? > net emcmot.00.pos-cmd <= limit3.0.out > > net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd Is emcmot.00.pos-cmd a signal name or a pin? I googled this phrase and got several links to HAL files for some Mesa card configs. My sense tells me that this should be just a signal name, but I am confused. > net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb > > net motor.00.pos-fb => axis.0.motor-pos-fb => mult2.1.in0 Why do You feed motor position feedback to axis.0.motor-pos-fb, if You do not use axis.0.motor-pos-cmd? Doesn't that cause following error, because pos-cmd and pos-fb would differ a lot? Or am I missing something here? > setp mult2.1.in1 100 > net motor0pos mult2.1.out => classicladder.0.floatin-02 Ok, You get motor position feedback back into classicladder. What happens then? I mean - does it somehow compare cmd and fb values? Can You, please, explain more, what happens with this data? Viesturs ------------------------------------------------------------------------------ Achieve unprecedented app performance and reliability What every C/C++ and Fortran developer should know. Learn how Intel has extended the reach of its next-generation tools to help boost performance applications - inlcuding clusters. http://p.sf.net/sfu/intel-dev2devmay _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
