On 2017-10-15 19:58, John Dammeyer wrote:
I mentioned 10uS period because that's what I read is the PRU interrupt rate
and why the machine kit can't do more than 50kHz stepping pulses. Don't
know if that's true either now because that information might also be old.
10uS is the standard configuration.
You can change it to 2.5uS with "pru_period=2500" as argument on the
line loading the PRU in the HAL config.
loadrt hal_pru_generic prucode=$(HAL_RTMOD_DIR)/xenomai/pru_generic.bin
pru=0 num_encoders=1 num_pwmgens=1 pru_period=2500 halname=hpg
What needs to be put into the Xylotex .ini and .hal file to make the Beagle
PRU use a 1PPR sensor for the latest revision of MachineKit on the Beagle?
What needs to be put into the Xylotex .ini and .hal file to make the Beagle
PRU use eQEP0 for the latest revision of MachineKit on the Beagle?
If you share the wiring of your Xylotex cape, I can prepare a example
config for you based on my EMCO-120P files.
Information needed is:
- stepper motors: dir/step connections
- spindle encoder: resolution and A/B/I connections (I assume eQEP0)
- lead screws/stepper: number of steps per unit
- unit: inch or mm
- end-stop switches: connections and position (at min or max X/Z ?)
- X/Z: travel
- spindle motor: drive connections
From that starting point you will be able to tune your own config by
learning HAL and INI syntax.
Always easier with a good example.
Frederic
http://cnc.f1oat.org
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