I'm trying to get bldc init to run off machine on rather than just once when I start axis and reset estop the first time. My current hal configuration ties bldc.0.init to iocontrol.0.user-enable-out and bldc.0.init-done to iocontrol.0.emc-enable-in, which may have been what pncconf suggested. I would also like to have hm2_7i43.0.3pwmgen.03.enable be enabled and disabled from machine on/off.
I've tried, without success, connecting bldc.0.init to halui.machine.is-on. Any other suggestions? Thanks, -- Ralph Complete hal file is below: loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt probe_parport loadrt hostmot2 loadrt hm2_7i43 config="firmware=hm2/7i43-4/TPEN4_5.BIT num_encoders=2 num_pwmgens=0 num_3pwmgens=4 num_stepgens=0" setp hm2_7i43.0.3pwmgen.frequency 20000 setp hm2_7i43.0.watchdog.timeout_ns 10000000 loadrt pid names=pid.0 loadrt bldc cfg=q addf hm2_7i43.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.0.do-pid-calcs servo-thread addf bldc.0 servo-thread addf hm2_7i43.0.write servo-thread addf hm2_7i43.0.pet_watchdog servo-thread #******************* # AXIS X #******************* # -- BLDC setup -- setp bldc.0.drive-offset 0 setp bldc.0.rev 0 # scale is (3.0in / 2poles) x 25.4mm/in x 512cnt/mm = 19507 setp bldc.0.scale 19507 setp bldc.0.poles 2 setp bldc.0.initvalue 5 net 0-a-value bldc.0.A-value => hm2_7i43.0.3pwmgen.03.A-value net 0-b-value bldc.0.B-value => hm2_7i43.0.3pwmgen.03.B-value net 0-c-value bldc.0.C-value => hm2_7i43.0.3pwmgen.03.C-value # ---Encoder feedback signals/setup--- setp hm2_7i43.0.encoder.00.counter-mode 0 setp hm2_7i43.0.encoder.00.filter 1 setp hm2_7i43.0.encoder.00.index-invert 0 setp hm2_7i43.0.encoder.00.index-mask 0 setp hm2_7i43.0.encoder.00.index-mask-invert 0 setp hm2_7i43.0.encoder.00.scale [AXIS_0]ENCODER_SCALE setp hm2_7i43.0.gpio.030.is_output 1 setp pid.0.Pgain [AXIS_0]P setp pid.0.Igain [AXIS_0]I setp pid.0.Dgain [AXIS_0]D setp pid.0.bias [AXIS_0]BIAS setp pid.0.FF0 [AXIS_0]FF0 setp pid.0.FF1 [AXIS_0]FF1 setp pid.0.FF2 [AXIS_0]FF2 setp pid.0.deadband [AXIS_0]DEADBAND setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT net 0-output pid.0.output => bldc.0.value net 0-pos-cmd axis.0.motor-pos-cmd => pid.0.command net 0-vel-fb hm2_7i43.0.encoder.00.velocity => pid.0.feedback-deriv net 0-pos-fb hm2_7i43.0.encoder.00.position => axis.0.motor-pos-fb pid.0.feedback net 0-pos-rawcounts hm2_7i43.0.encoder.00.rawcounts => bldc.0.rawcounts # ---3PWM Generator signals/setup--- setp hm2_7i43.0.3pwmgen.03.scale 10 setp hm2_7i43.0.3pwmgen.03.fault-invert 0 setp hm2_7i43.0.3pwmgen.03.deadtime 200 setp hm2_7i43.0.gpio.046.invert_output 1 # invert enable signal #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net machine-is-on halui.machine.is-on pid.0.enable # ---motion control signals--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled # ---estop signals--- net estop-out iocontrol.0.user-enable-out bldc.0.init hm2_7i43.0.3pwmgen.03.enable net all-are-init bldc.0.init-done => iocontrol.0.emc-enable-in ------------------------------------------------------------------------------ Want fast and easy access to all the code in your enterprise? Index and search up to 200,000 lines of code with a free copy of Black Duck Code Sight - the same software that powers the world's largest code search on Ohloh, the Black Duck Open Hub! Try it now. http://p.sf.net/sfu/bds _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
